Revision 0:b5f9b0530f25, committed 2018-12-21

Comitter:

OscarLiao

Date:

Fri Dec 21 05:53:27 2018 +0000

Commit message:

test

Changed in this revision

diff -r 000000000000 -r b5f9b0530f25 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 21 05:53:27 2018 +0000
@@ -0,0 +1,636 @@
+/*
+This is a program for localized controller of one leg
+Endpoint space Impedence Control and Force/Torque feedforward
+Two input was acceptable
+q_0_E[3] Neutral point for Impedence reference
+T_0[3]   Feedforward of Force/Torque
+
+---------o------↺ q_act_est[0]
+        /|
+    L1 / | ⤸ q_act_est[1]
+      o  |
+ L2 ／/
+  ／ / ⤸ q_act_est[2]
+o   /
+MCU target: F303K8
+ADC config: 3.3 Vadc common source
+*/
+//**************** Wiring Map ********************//
+//      |---------------|           |   |---------------|
+//   Srl| PA_9  | D1    |Cmd Serail |   | VIN   | VIN   |
+//   Srl| PA_10 | D0    |Cmd Serial |   | GND   | GND   |
+//      | NRST  | NRST  |           |   | NRST  | NRST  |
+//      | GND   | GND   |           |   | 5V    | 5V    |
+//      | PA_12 | D2    |           |Srl| A7    | PA_2  |PC Serial
+//   PWM| PB_0  | D3    |Shing Drv  |Dou| A6    | PA_7  |CSG
+//   Dou| PB_7  | D4    |Task1      |Din| A5    | PA_6  |CS2 Stretch Cmd
+//   Dou| PB_6  | D5    |Task2      |Din| A4    | PA_5  |CS1 Serial Sync
+//   PWM| PB_1  | D6    |Tigh Drv   |Ain| A3    | PA_4  |Shing sense
+//      | PF_0  | D7    |           |Ain| A2    | PA_3  |Tigh sense
+//      | PF_1  | D8    |           |Ain| A1    | PA_1  |Hip sense
+//   PWM| PA_8  | D9    |Hip Drv    |   | A0    | PA_0  |
+//      | PA_11 | D10   |           |   | AREF  | AREF  |VR source
+//      | PB_5  | D11   |           |   | 3V3   | 3V3   |
+//      | PB_4  | D12   |           |Dou| D13   | PB_3  |led / Serial error
+//      |---------------|           |   |---------------|
+#include "mbed.h"
+//#include "LSM9DS0_SH.h"
+//#define DEBUG       1
+#define DEBUG       0
+#define pi          3.141592f
+#define d2r         0.01745329f
+
+#define Rms         5000            //TT rate
+#define dt          0.015f
+#define Task_1_NN   2
+#define Task_2_NN   199
+
+//Torque-Controller gain
+#define G1_rad_dc   0.00157f
+#define Kqff        636.7f          //ffoward gain of q_act_est = 1 / G1_rad_dc
+#define KTff        60.408f          //ffoward gain of T_ref_WD = 1 / (K_q * G1_rad_dc)
+#define Kpt         22.9f
+#define Ki          151.9f
+
+//ADC reference constant
+#define Kadc        5.817f          //adc value to q_spring
+#define K_spring    13180f         //sping constant of single spring
+#define K_q         10.544f         //2*K_spring*R^2
+#define R           0.02f           //wheely's radius
+
+//Endpoint Impedence Contorller coefficcient
+#define Kpi_Hip     0
+#define Kpi_Thigh   2000
+#define Kpi_Shin    8
+#define Kd_Hip      0.0
+#define Kd_Thigh    0.0
+#define Kd_Shin     0.0
+#define KN          20
+#define L1          0.120f          //Tigh length
+#define L2          0.1480f          //Shing lenth
+#define LA          (L1*L1+L2*L2)   //L1^2 + L2^2
+#define LB          (L1*L2)         //L1*L2
+#define LC          (L1/L2)         //L1/L2
+#define L0          0.2f           //Length of the leg
+
+//Structure
+#define PWM_Hip     1550            //900~1550~2200 2050
+#define PWM_Thigh   1730            //900~1550~2200 1300
+#define PWM_Shin    1490            //900~1550~2200 1450 1740
+
+#define Buff_size   16              //Serial Buffer
+
+#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡GPIO registor≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+//╔═════════════════╗
+//║    Structure    ║
+//╚═════════════════╝
+DigitalOut  led(D13);               //detection
+DigitalOut  led2(D12);              //detection
+DigitalOut  Task_1(D4);             //Task indicate
+DigitalOut  Task_2(D5);
+DigitalOut  CSG(A6);                //Stretch interrupt pull down
+
+AnalogIn    adc1(A1);               //adc
+AnalogIn    adc2(A2);               //adc
+AnalogIn    adc3(A3);               //adc
+
+InterruptIn CS1(D2);                //Serial synchronizor
+DigitalIn   CS2(A5);                //Stretch interrupt
+
+
+//╔═════════════════╗
+//║    Servo out    ║
+//╚═════════════════╝
+PwmOut      Drive1(D9);             //PWM 1/1
+PwmOut      Drive2(D6);             //PWM 1/2N
+PwmOut      Drive3(D3);             //PWM 1/3N
+
+//╔═════════════════╗
+//║     Serial      ║
+//╚═════════════════╝
+Serial      Debug(PA_2, PA_15);     //Serial reg(TX RX) USB port
+Serial      Cmd(D1, D0);            //Serial reg(TX RX)
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of GPIO registor■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡Varible registor≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+//╔═════════════════╗
+//║    Structure    ║
+//╚═════════════════╝
+Ticker  TT;                         //call a timer
+uint8_t Task_1_count = 0;           //1st prior task count
+uint8_t Task_2_count = 0;           //2nd prior task count
+uint8_t Flag_1 = 0;                 //1st prior task flag
+uint8_t Flag_2 = 0;                 //2nd prior task flag
+
+//╔═════════════════╗
+//║       ADC       ║
+//╚═════════════════╝
+
+//╔═════════════════╗
+//║       PWM       ║
+//╚═════════════════╝
+const int16_t  PWM_base[3] = {      //reference command at 0, -45, 45 deg
+    PWM_Hip,PWM_Thigh,PWM_Shin
+};
+int16_t PWM[3] = {                  //command out PWM_base + q_ref
+    0, 0, 0                         //transfer: 10us to 1 deg
+};
+
+//╔═════════════════╗
+//║ q_actEstimator  ║
+//╚═════════════════╝
+/*
+q_act_est = q_ref*G1_rad_TUT(z) - q_spring
+
+G1_rad_TUT(z) is shown below
+
+ y(z)     1.316 + 2.633*z^-1 + 1.316*z^-2               b0 + b1*z^-1 + b2*z^-2
+----- = ----------------------------------- * 1e-04 =  ------------------------
+ x(z)      1 - 0.8447*z^-1 + 0.1799*z^-2                1 - a1*z^-1 - a2*z^-2
+
+q_ref═>[Σ]════════╦═>[b0]═>[Σ]═[1e-04]═>y
+        ⇑         ⇓w0       ⇑
+        ║       [1/z]       ║
+       [Σ]<═[a1]<═╬═>[b1]═>[Σ]
+        ⇑         ⇓w1       ⇑
+        ║       [1/z]       ║
+        ╚═══[a2]<═╩═>[b2]═══╝
+                   w2
+*/
+float   q_act_est[3] = {            //output of filter
+    0, 0, 0
+};
+
+float   L_act_est = 0.0;
+float   P_act_est = 0.0;
+
+float   G1_w_n[3][3] = {            //G1_rad_TUT's
+    {0, 0, 0},                      //{w0, w1, w2}
+    {0, 0, 0},                      //second sea
+    {0, 0, 0},
+};
+const float   G1_a[3] = {           //{a0, a1, a2}
+    1.00, 0.8447, -0.1799
+};
+const float   G1_b[3] = {           //{b0, b1, b2}
+    1.316, 2.633, 1.316
+};
+
+//╔═════════════════╗//╔══════════════════╗
+//║     Comp_ref    ║//║ Controller Input ║
+//╚═════════════════╝//╚══════════════════╝
+/*
+
+---------o------↺ q_act_est[0]
+        /|
+    L1 / | ↻ q_act_est[1]
+      o  |
+ L2 ／/
+  ／ / ↻ q_act_est[2]
+o   /
+
+                        1 - z^-1
+PDn(z) = P + D*N*---------------------
+                  1 - (1 - N*Ts)*z^-1
+
+ y(z)    b0 + b1*z^-1      1 + (-1)*z^-1
+----- = -------------- = ------------------
+ x(z)    1 - a1*z^-1       1 - 0.7*z^-1
+
+x═>[Σ]═══════╦═>[b0]═>[Σ]═>[D*N]═>y
+    ⇑        ⇓w0       ⇑
+    ║      [1/z]       ║
+    ╚══[a1]<═╩═>[b1]═══╝
+              w1
+*/
+
+float K_c[3] = {                    //K_c reference impedence            
+    Kpi_Hip, Kpi_Thigh, Kpi_Shin     //{Hip, Thigh, Shin}      
+};
+float B_c[3] = {                    //B_c = D*N (*20)reference damping (Dmax~0.4)(B_c_max~5) in joint!!
+    Kd_Hip*KN, Kd_Thigh*KN, Kd_Shin*KN                //{Hip, Thigh, Shin}
+};
+float q_0_E[3] = {                  //"Controller Input" from upper controller in endpoint level (Operational Space)
+    0, 0.2, 0                         //{Hip, leg length, leg angle} original point
+};
+
+float q_0_E_1_gain = 0.2f/255.0f;
+float q_0_E_2_gain = (pi/4)/128.0f;
+
+float T_0[3] = {                    //"Controller Input" from upper controller in joint level
+    0, 0, 0                         //{T_0_Hip, T_0_Tigh, F_0_Stretch} force feed foward
+};
+float q_err_E[3] = {                //error in endpoint level
+    0, 0, 0
+};
+float q_err_D_E[3] = {              //derivative error in endpoint level
+    0, 0, 0
+};
+float Cref_w[3][2] = {              //filter storage
+    {0, 0},
+    {0, 0},
+    {0, 0},
+};
+const float Cref_a[2] = {           //{a0, a1}
+    1.00, 0.70
+};
+const float Cref_b[2] = {           //{b0, b1}
+    1.00, -1.00
+};
+float       J32 = 0.0;
+float       J33 = 0.0;
+float       Phi1_0 = 0.0;
+float       Phi2_0 = 0.0;
+
+//╔═════════════════╗
+//║   Torque_reg    ║
+//╚═════════════════╝
+/*
+         q_act_est             T_ref_WD
+q_ref = ----------- + -------------------------- + PI( T_ref - 2*K_spring*R^2*q_spring )
+         G1_rad_dc     2*K_spring*R^2*G1_rad_dc
+
+PI(z) = P + I*dt / (z-1)
+*/
+const float Kp[3] = {               //P gain for Torque REG
+    Kpt, Kpt, Kpt             //{Hip, Tigh, Shin}
+};
+const float Kit[3] = {              //I gain for Torque REG Kit = Ki*Ts
+    Ki*dt, Ki*dt, Ki*dt            //{Hip, Tigh, Shin}
+};
+float T_ref[3] = {                  //command to T_reg in joint level
+    0, 0, 0                         //{Hip, Tigh, Shin}
+};
+float T_ref_E[3] = {                //command to T_reg in end point level
+    0, 0, 0                         //{Hip, Len, Phi}
+};
+float T_ref_WD[3] = {               //command without damping reference in joint level
+    0, 0, 0
+};
+float T_ref_WD_E[3] = {             //command without damping reference in endpoint level
+    0, 0, 0
+};
+float T_err[3] = {                  //T_ref - T_act_est, T_act_est = q_spring * K_q
+    0, 0, 0                         //{Hip, Tigh, Shin}
+};
+float q_ref[3] = {                  //output of T_reg
+    0, 0, 0                         //{Hip, Thigh, Shin}
+};
+float q_spring[3] = {               //read in spring travel
+    0, 0, 0
+};
+float q_spring_0[3] = {             //neutral point of VR
+    0, 0, 0
+};
+float T_reg_I[3] = {                //PI_w
+    0, 0, 0
+};
+
+//╔═════════════════╗
+//║   I/O Serial    ║
+//╚═════════════════╝
+uint8_t Buff[Buff_size];
+uint8_t Recieve_index = 0;
+uint8_t Cmd_Flag = 0;
+uint8_t Rx_enable = 0;
+char buffer[128];
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of Varible registor■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡Function registor≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+void    init_TIMER();           //set TT_main() rate
+void    TT_main();              //timebase function rated by TT
+void    init_q_spring_0();      //calibrating
+void    init_IO();              //initialize IO state
+
+void    q_spring_Est();
+void    q_act_Est();
+void    Impedence_Ref();
+void    Torque_Reg();
+
+void    Rx_irq();
+void    Rx_srt();
+void    Rx_end();
+//void    NVIC_DisableIRQ(USART1_IRQn);
+//void    NVIC_EnableIRQ(USART1_IRQn);
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of Function registor■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡main funtion≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+int main()
+{
+    Debug.baud(115200);                     //set baud rate
+    Cmd.baud(115200);                       //set baud rate
+
+    wait_ms(10);
+    init_q_spring_0();                      //calibrating q_spring reference point
+
+    wait_ms(600);
+    init_IO();                              //initialized value
+    init_TIMER();                           //start TT_main
+    
+    Cmd.attach(&Rx_irq,Serial::RxIrq);      //start recieving message
+//    NVIC_DisableIRQ(USART1_IRQn);           //stay down before CS1 signal
+    
+    CS1.fall(&Rx_srt);                      //attach the address of Rx_srt to falling edge as start signal of communication
+    CS1.rise(&Rx_end);                      //attach the address of Rx_end to rise edge
+    
+    //for joint endpoint transform
+    Phi1_0 = (acos((L0*L0+L1*L1-L2*L2)/(2*L0*L1)));
+    Phi2_0 = (Phi1_0 + acos((L0*L0+L2*L2-L1*L1)/(2*L0*L2)));
+            
+    while(1) {                              //main() loop
+
+        //Task judging start
+        if(Flag_1 == 1) {                   //check pending
+            //Task_1 start         
+            //read in condition & estimate state
+            q_spring_Est();
+            q_act_Est();
+
+            //calculate control effort
+            Impedence_Ref();
+            Torque_Reg();
+
+            //PWM Drive out process
+            for(int i=0; i<3; i++) {
+                PWM[i] = PWM_base[i] + q_ref[i];    // X + Controll
+            }
+            //PWM[0] = 1550;
+            //PWM[1] = 1850;
+            //PWM[2] = 1670;
+
+            PWM[0] =  constrain(PWM[0],800 ,2100);//safty constrain
+            PWM[1] =  constrain(PWM[1],800 ,2100);//safty constrain
+            PWM[2] =  constrain(PWM[2],800 ,2100);//safty constrain
+
+            Drive1.pulsewidth_us(PWM[0]);           //drive command
+            Drive2.pulsewidth_us(PWM[1]);
+            Drive3.pulsewidth_us(PWM[2]);
+
+            //for Serial-Oscilloscope
+#if DEBUG
+//            q_0[2] = -0.9;
+            Debug.printf("%f\n", T_ref[2]);
+//            Debug.printf("%f, %f, %f\r", q_0[0], q_0[1], q_0[2]);
+//            Debug.printf("%lf\r", adc3.read());
+//            Debug.printf("%f\n", 123.23);
+//            Debug.printf("%.f\r", q_ref[0]);L_act_est
+//            Debug.printf("%.2f\r", q_spring_0[0]);
+//            Debug.printf("%.2f\r", J33);
+#endif
+
+            //Task_1 done
+            Flag_1 = 0;                 //clear pending
+            Task_1 = 0;                 //clear sign
+        }
+        
+        if(Cmd_Flag == 1) {
+            //{...}{Hip, Len, Phi}, {'#'}
+            //Received some shit, start decoding
+            led = 1;
+            if(Buff[3] == 'Q') {
+                //q_0 command
+                q_0_E[0] = (Buff[0] - 128);
+                q_0_E[1] = 0.1f + q_0_E_1_gain * Buff[1];
+                q_0_E[2] = q_0_E_2_gain * (Buff[2]-128);
+            } else if(Buff[3] == 'T') {
+                //T_0 command
+                T_0[0] = 1.0f * (Buff[0] - 128);
+                T_0[1] = 1.0f * (Buff[1] - 128);
+                T_0[2] = 1.0f * (Buff[2] - 128);
+            } else if(Buff[3] == 'K') {
+                K_c[0] = 0.02f * Buff[0];
+                K_c[1] = 0.02f * Buff[1];
+                K_c[2] = 0.02f * Buff[2];
+            } else if (Buff[3] == 'B') {
+                B_c[0] = 0.02f * (Buff[0] - 128);
+                B_c[1] = 0.02f * (Buff[1] - 128);
+                B_c[2] = 0.02f * (Buff[2] - 128);
+            } else {
+            //Show error in communication
+                led2 = 1;
+            }
+
+            Buff[3] = 0x00;           //clear end signals
+            Cmd_Flag = 0;
+            led = 0;
+            //Send out message threw Cmd
+//            Cmd.printf("%c %c %c\r", Dummy[0], Dummy[1], Dummy[2]);
+        }
+    }
+}
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of main funtion■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡Timebase funtion≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+void init_TIMER()                       //set TT_main{} rate
+{
+    TT.attach_us(&TT_main, Rms);
+}
+void TT_main()                          //interrupt function by TT
+{
+    Task_1_count = Task_1_count + 1;
+    if(Task_1_count > Task_1_NN) {
+        Task_1_count = 0;               //Task triggering
+        Flag_1 = 1;
+        Task_1 = 1;                     //show for indicator
+    }
+    Task_2_count = Task_2_count + 1;
+    if(Task_2_count > Task_2_NN) {
+        Task_2_count = 0;
+        //Task triggering
+        Flag_2 = 1;
+        Task_2 = 1;                   //show for indicator
+    }
+}
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of Timebase funtion■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡init_IO funtion≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+void init_IO(void)                      //initialize
+{
+    CS1.mode(PullUp);       //A4
+    CS2.mode(PullUp);       //A5
+    CSG = 0;                //A6
+    led = 0;
+    Drive1.period_us(15000);
+    Drive2.period_us(15000);
+    Drive3.period_us(15000);
+}
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of init_IO funtion■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡controller funtion≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+
+//follow steps for discrete process in j oder
+//1.update w0[n] threw input x[n] & wi[n] from last sequence
+//    w0[n] = x[n] + Zigma( ai*wi[n] ), i = 1, 2, 3...j-1, j.
+//    y[n] = Zigma( bi*wi[n] ), i = 0, 1, 2...j-1, j.
+//2.update wi[n+1] for next sequence
+//    wi[n] = wi-1[n], i = j, j-1...2, 1.
+
+void    q_spring_Est(void)
+{
+    //read in from adc
+    q_spring[0] = -(Kadc * adc1.read() - q_spring_0[0]);
+    q_spring[1] = -(Kadc * adc2.read() - q_spring_0[1]);
+    q_spring[2] = -(Kadc * adc3.read() - q_spring_0[2]);
+}
+
+void    q_act_Est(void)
+{
+    for(int i=0; i<3; i++) {
+        q_ref[i] = -(PWM[i] - PWM_base[i]);
+    }
+    //q_act_est = q_ref*G1_rad_TUT(z) - q_spring
+    //G1_rad_TUT(z) is done below
+    for(int i=0; i<3; i++) {
+        //update w0[n] threw input x[n] & wi[n] from last sequence
+        G1_w_n[i][0] = q_ref[i] + G1_a[1]*G1_w_n[i][1] + G1_a[2]*G1_w_n[i][2];
+        q_act_est[i] = G1_b[0]*G1_w_n[i][0] + G1_b[1]*G1_w_n[i][1] + G1_b[2]*G1_w_n[i][2];
+        q_act_est[i] = q_act_est[i]*0.0001f - q_spring[i];
+
+        //update wi[n+1]
+        G1_w_n[i][2] = G1_w_n[i][1];
+        G1_w_n[i][1] = G1_w_n[i][0];
+    }
+    //q_act_est[i] is now ready for following app
+}
+
+void    Impedence_Ref(void)
+{  
+    //Transform q_act_est from joint to end point
+    q_act_est[1] -= Phi1_0;
+    q_act_est[2] += Phi2_0;
+    
+    
+    
+    L_act_est = sqrt( LA + 2*LB*cos(q_act_est[2]) );
+    P_act_est = q_act_est[1] + asin( L2*sin(q_act_est[2]) / L_act_est );
+    
+    
+    //Calculate error in end point level
+    //q_0[i] => {Hip, Tigh, Shin}
+    q_err_E[0] = q_0_E[0] - q_act_est[0];       //Hip  motor#1
+    q_err_E[1] = q_0_E[1] - L_act_est;       
+    q_err_E[2] = q_0_E[2] - P_act_est;       
+    
+    
+    
+    for(int i=0; i<3; i++) {
+        //Generate T_ref in Operational Space (OSC control perhaps?)
+        //T_ref_E = PDn( q_err_E );
+
+        //Compliance
+        T_ref_WD_E[i] = K_c[i] * q_err_E[i];
+
+        //Damping
+        //update w0[n] threw input x[n] & wi[n] from last sequence
+        Cref_w[i][0] = q_err_E[i] + Cref_a[1]*Cref_w[i][1];
+        q_err_D_E[i] = Cref_b[0]*Cref_w[i][0] + Cref_b[1]*Cref_w[i][1];
+
+        //update wi[n+1]
+        Cref_w[i][1] = Cref_w[i][0];
+
+        //Generate T_ref in endpoint level
+        T_ref_E[i] = T_ref_WD_E[i] + B_c[i]*q_err_D_E[i];
+    }
+
+    //Transform torque to joint space, T_ref[i] = Σ( J[i][j] * T_ref_E[j] )
+    J32 = -LB*sin(q_act_est[2]) / L_act_est;
+    J33 = ( pow(J32,2)/LB + cos(q_act_est[2]) ) / (LC + cos(q_act_est[2]));
+
+    //Torque of Hip
+    T_ref[0] = T_ref_E[0];
+    T_ref_WD[0] = T_ref_WD_E[0];
+
+    //Torque of Tigh
+    T_ref[1] = T_ref_E[2] + T_0[1];
+    T_ref_WD[1] = T_ref_WD_E[2] + T_0[1];
+
+    //Torque of Shin
+    T_ref[2] = J32*T_ref_E[1] + J33*T_ref_E[2] + J32*T_0[1] + J33*T_0[2];
+    T_ref_WD[2] = J32*T_ref_WD_E[1] + J33*T_ref_WD_E[2] + J32*T_0[1] + J33*T_0[2];
+    
+}
+
+void    Torque_Reg(void)
+{
+    if(CS2 == 1) {
+        
+        //Transform q_act_est from end point to joint
+            q_act_est[1] += Phi1_0;
+            q_act_est[2] -= Phi2_0;
+    
+        //Normal command
+        for(int i=0; i<3; i++) {
+            //FeedFoward
+            q_ref[i] = q_act_est[i]*Kqff + T_ref_WD[i]*KTff;    //full feedfoward
+            //q_ref[i] = 0;                                       //w/o feedfoward
+
+            //FeedBack
+            T_err[i] = T_ref[i] - K_q*q_spring[i];
+            T_reg_I[i] = T_reg_I[i] + T_err[i]*Kit[i];
+            T_reg_I[i] =  constrain(T_reg_I[i], -200, 200);
+            q_ref[i] = -(T_err[i]*Kp[i] + T_reg_I[i] + q_ref[i]);
+        }
+        q_ref[0] = -(q_0_E[0]/128.0f)*225;
+        q_ref[0] = constrain(q_ref[0], -650, 650);
+        q_ref[1] = constrain(q_ref[1], -650, 650);
+        q_ref[2] = constrain(q_ref[2], -650, 650);
+           
+        
+    } else {
+        //Stretch command
+        for(int i=0; i<3; i++) {
+            T_reg_I[i] = 0;
+            q_ref[i] = 0;
+        }
+    }
+}
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of controller funtion■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡init_q_spring_0 funtion≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+void init_q_spring_0(void)
+{
+    for(int i=0; i<1000; i++) {
+        q_spring_0[0] = q_spring_0[0] + Kadc * adc1.read();
+        q_spring_0[1] = q_spring_0[1] + Kadc * adc2.read();
+        q_spring_0[2] = q_spring_0[2] + Kadc * adc3.read();
+        wait_us(100);
+    }
+    q_spring_0[0] = q_spring_0[0] /1000.0f;
+    q_spring_0[1] = q_spring_0[1] /1000.0f;
+    q_spring_0[2] = q_spring_0[2] /1000.0f;
+}
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of init_q_spring_0 funtion■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡Rx_xxx funtion≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+void    Rx_irq(void)
+{
+    //Keep clear in Rx_irq and leave most work after Rx_end
+    Buff[Recieve_index] = Cmd.getc();
+    Recieve_index = Recieve_index + Rx_enable;
+}
+
+void    Rx_srt(void)
+{
+    //start receiving Serial message from Cmd
+//    NVIC_EnableIRQ(USART1_IRQn);
+    Rx_enable = 1;
+}
+void    Rx_end(void)
+{
+    //end of receiving Serial message from Cmd
+//    NVIC_DisableIRQ(USART1_IRQn);
+    Rx_enable = 0;
+    Recieve_index = 0;
+    Cmd_Flag = 1;
+}
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of Rx_irq funtion■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
\ No newline at end of file

diff -r 000000000000 -r b5f9b0530f25 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Dec 21 05:53:27 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/a7c7b631e539
\ No newline at end of file