Yeseong Jeong
/
HydraulicControlBoard_Start
20210203
main.cpp@118:af86e883dcb4, 2020-09-14 (annotated)
- Committer:
- Lightvalve
- Date:
- Mon Sep 14 02:06:21 2020 +0000
- Revision:
- 118:af86e883dcb4
- Parent:
- 117:7141c0517b82
- Child:
- 119:8ade52d4bb25
200914-2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 118:af86e883dcb4 | 1 | //200914-2 |
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 | 65:a2d7c63419c2 | 11 | #include "FlashWriter.h" |
Lightvalve | 61:bc8c8270f0ab | 12 | |
Lightvalve | 61:bc8c8270f0ab | 13 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 14 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 15 | |
Lightvalve | 31:66738bfecec5 | 16 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 17 | |
jobuuu | 7:e9086c72bb22 | 18 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 19 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 20 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 21 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 22 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 23 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 24 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 25 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 26 | |
Lightvalve | 24:ef6e1092e9e6 | 27 | |
jobuuu | 7:e9086c72bb22 | 28 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 29 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 30 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 31 | |
jobuuu | 7:e9086c72bb22 | 32 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 33 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 34 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 35 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 36 | |
jobuuu | 7:e9086c72bb22 | 37 | // SPI /////////////////////////////////////////// |
Lightvalve | 16:903b5a4433b4 | 38 | //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 16:903b5a4433b4 | 39 | //DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 40 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 41 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 42 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 43 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 44 | |
jobuuu | 7:e9086c72bb22 | 45 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 46 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 50 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 51 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 52 | { |
Lightvalve | 11:82d8768d7351 | 53 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 54 | } |
jobuuu | 2:a1c0a37df760 | 55 | |
jobuuu | 7:e9086c72bb22 | 56 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 57 | State pos; |
jobuuu | 7:e9086c72bb22 | 58 | State vel; |
jobuuu | 7:e9086c72bb22 | 59 | State Vout; |
jobuuu | 7:e9086c72bb22 | 60 | State torq; |
jobuuu | 7:e9086c72bb22 | 61 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 62 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 63 | State cur; |
Lightvalve | 14:8e7590227d22 | 64 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 65 | |
Lightvalve | 14:8e7590227d22 | 66 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 67 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 68 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 69 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 70 | |
Lightvalve | 19:23b7c1ad8683 | 71 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 72 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 73 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 74 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 75 | |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 77 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 78 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 79 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | |
Lightvalve | 61:bc8c8270f0ab | 83 | |
Lightvalve | 61:bc8c8270f0ab | 84 | |
Lightvalve | 61:bc8c8270f0ab | 85 | |
jobuuu | 7:e9086c72bb22 | 86 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 87 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 88 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 89 | |
Lightvalve | 12:6f2531038ea4 | 90 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 91 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 92 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 93 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 94 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 95 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 96 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 97 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 100 | }; |
Lightvalve | 12:6f2531038ea4 | 101 | |
Lightvalve | 12:6f2531038ea4 | 102 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 103 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 104 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 105 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 106 | //control mode |
Lightvalve | 12:6f2531038ea4 | 107 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 108 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 109 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 110 | |
Lightvalve | 47:fdcb8bd86fd6 | 111 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 12:6f2531038ea4 | 112 | MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 |
Lightvalve | 12:6f2531038ea4 | 113 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 |
Lightvalve | 13:747daba9cf59 | 114 | |
Lightvalve | 12:6f2531038ea4 | 115 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 116 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 117 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 121 | |
Lightvalve | 14:8e7590227d22 | 122 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 123 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 124 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 13:747daba9cf59 | 125 | |
Lightvalve | 12:6f2531038ea4 | 126 | //utility |
Lightvalve | 12:6f2531038ea4 | 127 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 128 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 129 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 130 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 134 | |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 138 | MODE_SYSTEM_ID, //33 |
Lightvalve | 12:6f2531038ea4 | 139 | }; |
Lightvalve | 12:6f2531038ea4 | 140 | |
Lightvalve | 65:a2d7c63419c2 | 141 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 142 | { |
Lightvalve | 65:a2d7c63419c2 | 143 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 144 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 145 | |
Lightvalve | 65:a2d7c63419c2 | 146 | /** Configure the main internal regulator output voltage |
Lightvalve | 65:a2d7c63419c2 | 147 | */ |
Lightvalve | 65:a2d7c63419c2 | 148 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 65:a2d7c63419c2 | 149 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 65:a2d7c63419c2 | 150 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 151 | */ |
Lightvalve | 65:a2d7c63419c2 | 152 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 153 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 65:a2d7c63419c2 | 154 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 65:a2d7c63419c2 | 155 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 65:a2d7c63419c2 | 156 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 157 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 65:a2d7c63419c2 | 158 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 65:a2d7c63419c2 | 159 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 160 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 65:a2d7c63419c2 | 161 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 65:a2d7c63419c2 | 162 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 163 | { |
Lightvalve | 65:a2d7c63419c2 | 164 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 165 | } |
Lightvalve | 65:a2d7c63419c2 | 166 | /** Activate the Over-Drive mode |
Lightvalve | 65:a2d7c63419c2 | 167 | */ |
Lightvalve | 65:a2d7c63419c2 | 168 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 169 | { |
Lightvalve | 65:a2d7c63419c2 | 170 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 171 | } |
Lightvalve | 65:a2d7c63419c2 | 172 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 173 | */ |
Lightvalve | 65:a2d7c63419c2 | 174 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 65:a2d7c63419c2 | 175 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 65:a2d7c63419c2 | 176 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 65:a2d7c63419c2 | 177 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 65:a2d7c63419c2 | 178 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 65:a2d7c63419c2 | 179 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 180 | |
Lightvalve | 65:a2d7c63419c2 | 181 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 182 | { |
Lightvalve | 65:a2d7c63419c2 | 183 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 184 | } |
Lightvalve | 65:a2d7c63419c2 | 185 | } |
Lightvalve | 65:a2d7c63419c2 | 186 | |
Lightvalve | 99:7bbcb3c0fb06 | 187 | float u_past[num_array_u_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 188 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 189 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 190 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 191 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 192 | |
Lightvalve | 73:f80dc3970c99 | 193 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 194 | |
Lightvalve | 112:8dcb1600cb90 | 195 | const float h1[num_input][16] = { |
Lightvalve | 118:af86e883dcb4 | 196 | {-0.9922683835029602f,0.8460232019424438f,0.12024858593940735f,0.42971673607826233f,-0.7831948399543762f,0.9466757774353027f,-0.1628284603357315f,0.8786351084709167f,-0.2666258215904236f,-0.07533060014247894f,-0.1956915706396103f,-0.12716156244277954f,-0.9979654550552368f,-0.24919171631336212f,-0.2396446317434311f,-0.7646004557609558f}, |
Lightvalve | 118:af86e883dcb4 | 197 | {-1.0745341777801514f,0.8116288781166077f,-0.36603355407714844f,0.11917760968208313f,-0.7929401397705078f,0.7322802543640137f,-0.3777896761894226f,0.6243390440940857f,-0.0749230682849884f,0.1571505218744278f,-0.23001240193843842f,-0.2895985245704651f,-0.4654836356639862f,-0.7147734761238098f,-0.1953967958688736f,-0.526853084564209f}, |
Lightvalve | 118:af86e883dcb4 | 198 | {-1.0916802883148193f,0.6941514015197754f,0.33912619948387146f,-0.23350191116333008f,-0.49327319860458374f,0.77676922082901f,0.2676515281200409f,0.6104924082756042f,-0.15097439289093018f,0.15909519791603088f,-0.29889100790023804f,-0.5846660733222961f,-0.5838217735290527f,-0.22375208139419556f,0.05209478735923767f,-0.7551524639129639f}, |
Lightvalve | 118:af86e883dcb4 | 199 | {-0.9782484173774719f,0.31113147735595703f,0.3703531324863434f,0.35380131006240845f,-0.3702634572982788f,0.2814937233924866f,-0.10795548558235168f,0.6389802694320679f,0.020238667726516724f,0.2819874584674835f,0.11468183249235153f,-0.4511280059814453f,-0.5932655930519104f,-0.259999543428421f,-0.27597576379776f,-0.4377490282058716f}, |
Lightvalve | 118:af86e883dcb4 | 200 | {-0.456306517124176f,0.24705632030963898f,-0.004794687032699585f,0.27283531427383423f,-0.2491397112607956f,0.36148759722709656f,0.12058994174003601f,0.014295617118477821f,0.026135817170143127f,0.10731380432844162f,0.3494521677494049f,-0.8916900157928467f,-0.2646500766277313f,-0.07438575476408005f,-0.36018112301826477f,-0.6685306429862976f}, |
Lightvalve | 118:af86e883dcb4 | 201 | {-0.14345301687717438f,-0.6141415238380432f,0.20290347933769226f,0.255454957485199f,0.07266472280025482f,-0.17502927780151367f,0.15389427542686462f,-0.6482041478157043f,0.02910737134516239f,0.11359100788831711f,-0.20555031299591064f,-0.838413655757904f,-0.06824104487895966f,0.1409512758255005f,-0.38513508439064026f,-0.5575804710388184f}, |
Lightvalve | 118:af86e883dcb4 | 202 | {-0.12874425947666168f,0.15096040070056915f,-0.2331579178571701f,-0.6160153150558472f,-0.3254242539405823f,0.14485986530780792f,0.05604562163352966f,-0.9803144335746765f,0.33852580189704895f,0.06457266211509705f,0.16518302261829376f,0.5692259073257446f,0.14356370270252228f,0.17044077813625336f,-0.14554673433303833f,0.004071855451911688f}, |
Lightvalve | 118:af86e883dcb4 | 203 | {-0.14650265872478485f,-0.1280912607908249f,-0.24806702136993408f,-0.10933416336774826f,-0.30412396788597107f,-0.22102442383766174f,-0.16704979538917542f,-0.9642120599746704f,0.02454073168337345f,0.10739956796169281f,0.12258263677358627f,0.18821772933006287f,0.6021031737327576f,-0.02402644231915474f,0.04009982943534851f,0.19188940525054932f}, |
Lightvalve | 118:af86e883dcb4 | 204 | {0.07880011945962906f,0.24555817246437073f,0.09550115466117859f,-0.5748773813247681f,-0.11726641654968262f,-0.09445475786924362f,-0.06753402948379517f,-1.1256269216537476f,-0.25171300768852234f,0.3228546679019928f,-0.2527022659778595f,0.5302071571350098f,0.5802300572395325f,0.13589775562286377f,-0.2847418785095215f,0.2381889373064041f}, |
Lightvalve | 118:af86e883dcb4 | 205 | {-0.3524811267852783f,-0.27957043051719666f,0.17205187678337097f,-0.353553831577301f,0.15921594202518463f,0.16370359063148499f,-0.2786858379840851f,-0.6992180347442627f,-0.006810380611568689f,-0.44237667322158813f,0.016535434871912003f,-0.5385427474975586f,0.6526777744293213f,-0.2621651887893677f,0.3247623145580292f,-0.05272668972611427f}, |
Lightvalve | 118:af86e883dcb4 | 206 | {-0.3432121276855469f,-0.1163753941655159f,0.34649983048439026f,-0.005047006532549858f,0.018827319145202637f,0.0882120430469513f,-0.1895401030778885f,-0.47850292921066284f,-0.39709779620170593f,0.02158806100487709f,0.34884387254714966f,-0.8406322598457336f,0.28447356820106506f,-0.11396709084510803f,0.24870619177818298f,-0.48489615321159363f}, |
Lightvalve | 118:af86e883dcb4 | 207 | {-1.4658772945404053f,-0.9025406241416931f,-0.3757385015487671f,-0.27221575379371643f,0.09630811959505081f,0.007997093722224236f,0.1429324448108673f,-0.08122667670249939f,-0.13873571157455444f,0.183034747838974f,-0.36179932951927185f,-1.096313714981079f,0.6890646815299988f,-0.15136075019836426f,0.09779238700866699f,-0.33199232816696167f}, |
Lightvalve | 118:af86e883dcb4 | 208 | {0.3255842328071594f,-0.13240604102611542f,0.18496140837669373f,0.1490352302789688f,0.22719809412956238f,0.3432508409023285f,-0.22405625879764557f,0.5712770819664001f,-0.1590391844511032f,-0.19357538223266602f,-0.0771421566605568f,0.4437602460384369f,-0.03669879585504532f,-0.38094064593315125f,-0.2075144499540329f,-0.5344372987747192f}, |
Lightvalve | 118:af86e883dcb4 | 209 | {0.08733686059713364f,-0.5590197443962097f,0.38466766476631165f,-0.1221768856048584f,-0.18919458985328674f,-0.3587653934955597f,-0.2982172966003418f,0.07945907860994339f,-0.10940439254045486f,-0.22700423002243042f,-0.15709635615348816f,1.2706669569015503f,0.156779482960701f,-0.5185052156448364f,0.04470124840736389f,0.15615953505039215f}, |
Lightvalve | 118:af86e883dcb4 | 210 | {0.403360515832901f,-0.7128850817680359f,0.18900898098945618f,-0.0196603462100029f,0.4677486717700958f,-0.48132121562957764f,0.03916636109352112f,0.48491209745407104f,0.2998749315738678f,0.05602376163005829f,-0.2355746030807495f,1.1661030054092407f,0.77826327085495f,-0.4945463538169861f,0.062258750200271606f,0.383340448141098f}, |
Lightvalve | 118:af86e883dcb4 | 211 | {0.2593289613723755f,-0.9854602813720703f,-0.37685394287109375f,-0.18413859605789185f,0.012465625070035458f,-0.441338449716568f,-0.14507901668548584f,0.16470235586166382f,0.20499226450920105f,-0.030375521630048752f,-0.41661128401756287f,1.224860429763794f,0.43210548162460327f,-0.29650601744651794f,-0.07684260606765747f,0.46413087844848633f}, |
Lightvalve | 118:af86e883dcb4 | 212 | {0.2933506667613983f,-0.6391526460647583f,0.15568438172340393f,-0.011705679818987846f,0.09584854543209076f,-0.6565345525741577f,-0.03859376907348633f,0.19194769859313965f,-0.04179299250245094f,0.05253047123551369f,-0.304436057806015f,1.0240694284439087f,0.5564665198326111f,0.17602147161960602f,0.2742314636707306f,0.2318839579820633f}, |
Lightvalve | 118:af86e883dcb4 | 213 | {0.3379058837890625f,-0.29977551102638245f,0.19490453600883484f,-0.25027701258659363f,-0.3285960257053375f,-0.5744139552116394f,-0.336474746465683f,0.17858105897903442f,-0.36251819133758545f,-0.14384283125400543f,-0.12994831800460815f,0.2926623821258545f,0.5316202044487f,-0.030442986637353897f,-0.2561379373073578f,0.10979076474905014f}, |
Lightvalve | 118:af86e883dcb4 | 214 | {0.17658555507659912f,-0.04404517263174057f,-0.2776013910770416f,0.1309312880039215f,0.3232283294200897f,-0.6174668669700623f,0.25546005368232727f,-0.2918916940689087f,-0.358376681804657f,-0.003287365660071373f,-0.37069639563560486f,-0.19753798842430115f,0.15488097071647644f,0.48237356543540955f,-0.30415377020835876f,-0.44348135590553284f}, |
Lightvalve | 118:af86e883dcb4 | 215 | {0.8231086730957031f,0.2649248540401459f,0.1420871913433075f,-0.3401312530040741f,-0.2660701274871826f,-0.43393203616142273f,-0.13263443112373352f,-0.39492422342300415f,-0.14558611810207367f,0.013515380211174488f,0.1254778802394867f,-0.21490269899368286f,0.19694817066192627f,0.8114207983016968f,0.13351169228553772f,0.08890828490257263f}, |
Lightvalve | 118:af86e883dcb4 | 216 | {0.40884125232696533f,-0.2336285412311554f,-0.07561364769935608f,0.02270103618502617f,-0.2815033197402954f,-0.73646479845047f,0.14428457617759705f,-0.20181608200073242f,-0.3427658975124359f,-0.31821179389953613f,-0.3578360378742218f,-1.0267835855484009f,-0.3186191916465759f,1.050688624382019f,0.019461065530776978f,0.23086552321910858f}, |
Lightvalve | 118:af86e883dcb4 | 217 | {0.7475125193595886f,-0.665755569934845f,0.2631795108318329f,-0.724714457988739f,0.36547961831092834f,-1.258718490600586f,0.27224990725517273f,-0.8995881676673889f,-0.05133276432752609f,0.06621639430522919f,0.06264594197273254f,-1.6783150434494019f,0.43630486726760864f,1.1044129133224487f,0.06011766195297241f,0.3640836179256439f}, |
Lightvalve | 65:a2d7c63419c2 | 218 | }; |
Lightvalve | 65:a2d7c63419c2 | 219 | |
Lightvalve | 112:8dcb1600cb90 | 220 | const float h2[16][16] = { |
Lightvalve | 118:af86e883dcb4 | 221 | {-1.995652437210083f,-0.2068829983472824f,-0.06966331601142883f,0.3350852131843567f,-0.21907491981983185f,0.5111141204833984f,0.1577049195766449f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.2805067300796509f,-0.10159772634506226f,0.037286918610334396f,-1.4427478313446045f,-2.208937168121338f,-0.9961128234863281f}, |
Lightvalve | 118:af86e883dcb4 | 222 | {0.5792762637138367f,-3.808340311050415f,0.057057321071624756f,2.2043418884277344f,-0.35503754019737244f,-2.3927183151245117f,-0.5222805738449097f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,0.6989365220069885f,-0.6684925556182861f,0.20035608112812042f,1.3771828413009644f,-0.020792467519640923f,-2.3830668926239014f}, |
Lightvalve | 112:8dcb1600cb90 | 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 | 118:af86e883dcb4 | 224 | {0.21807445585727692f,-0.4128798544406891f,-0.2894435524940491f,-0.38070401549339294f,0.08946844935417175f,0.17335492372512817f,-0.49148330092430115f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.14064599573612213f,0.30993807315826416f,-0.4346889555454254f,0.24925482273101807f,0.23362866044044495f,0.04363977164030075f}, |
Lightvalve | 118:af86e883dcb4 | 225 | {-0.0690189003944397f,0.44633859395980835f,-0.25313520431518555f,0.18370237946510315f,0.036378175020217896f,0.261993944644928f,-0.41914331912994385f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.29010462760925293f,-0.7198570966720581f,-0.008628766983747482f,-0.44645318388938904f,-0.32042133808135986f,-0.3557409346103668f}, |
Lightvalve | 118:af86e883dcb4 | 226 | {1.0781077146530151f,-0.3735578656196594f,-0.3519742488861084f,-0.48898035287857056f,-0.3015052080154419f,-0.1435472071170807f,-0.7045096158981323f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-1.2321500778198242f,-0.3002046048641205f,-0.41085922718048096f,0.12980346381664276f,1.1767032146453857f,-1.2447152137756348f}, |
Lightvalve | 112:8dcb1600cb90 | 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 | 118:af86e883dcb4 | 228 | {1.2469984292984009f,-0.8763218522071838f,0.33083590865135193f,1.7530616521835327f,-0.14358049631118774f,0.010533415712416172f,-0.2712770700454712f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,-0.6503188610076904f,-0.2890920341014862f,-0.5379235148429871f,2.585930109024048f,2.265061378479004f,0.35780707001686096f}, |
Lightvalve | 118:af86e883dcb4 | 229 | {-0.25576791167259216f,0.3400726914405823f,-0.11379697918891907f,0.11029995232820511f,0.041274964809417725f,-0.3380604088306427f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.05663437396287918f,-0.3197441101074219f,-0.37024784088134766f,-0.28747454285621643f,-0.38662344217300415f,-0.22054927051067352f}, |
Lightvalve | 118:af86e883dcb4 | 230 | {-0.14576366543769836f,0.2205791175365448f,-0.13502129912376404f,0.10068279504776001f,0.12987366318702698f,0.11282801628112793f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.24429087340831757f,0.39862415194511414f,0.3811538517475128f,-0.23295477032661438f,0.013144334778189659f,-0.23888015747070312f}, |
Lightvalve | 118:af86e883dcb4 | 231 | {-0.2562062442302704f,-0.035001546144485474f,0.0457797646522522f,-0.3986908793449402f,-0.03321319818496704f,-0.44217926263809204f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.23657932877540588f,0.3545852601528168f,-0.3647043704986572f,0.4500863254070282f,-0.36821234226226807f,-0.31535226106643677f}, |
Lightvalve | 118:af86e883dcb4 | 232 | {0.8102825284004211f,1.294549584388733f,0.3954955041408539f,1.102267861366272f,0.0033026933670043945f,0.1643415242433548f,-0.47370150685310364f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-0.05037403851747513f,-0.4392281174659729f,-0.06405176222324371f,-1.6827234029769897f,0.5400660634040833f,0.17927005887031555f}, |
Lightvalve | 118:af86e883dcb4 | 233 | {-0.6686052083969116f,1.1986757516860962f,-0.15798500180244446f,-0.8824228048324585f,-0.37393757700920105f,0.8962071537971497f,-0.20785248279571533f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,0.15467706322669983f,-0.551661491394043f,0.23710069060325623f,-0.6682615280151367f,-0.11948293447494507f,-0.022243276238441467f}, |
Lightvalve | 118:af86e883dcb4 | 234 | {-0.3220524489879608f,-0.39394599199295044f,-0.2018718123435974f,-0.1575627624988556f,0.07545611262321472f,0.04054655879735947f,-0.24003709852695465f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.6880089044570923f,-0.3674003779888153f,-0.27380242943763733f,0.5272713303565979f,-1.119949460029602f,-0.36922433972358704f}, |
Lightvalve | 112:8dcb1600cb90 | 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 | 118:af86e883dcb4 | 236 | {-0.07192385941743851f,0.6766030788421631f,0.12081471085548401f,0.4383029639720917f,0.29976895451545715f,-0.06717150658369064f,-0.2861359417438507f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.13777963817119598f,-0.41539883613586426f,-0.3014349937438965f,-0.4090578556060791f,-0.350934773683548f,-0.28625383973121643f}, |
Lightvalve | 65:a2d7c63419c2 | 237 | }; |
Lightvalve | 65:a2d7c63419c2 | 238 | |
Lightvalve | 112:8dcb1600cb90 | 239 | const float h3[16][16] = { |
Lightvalve | 118:af86e883dcb4 | 240 | {-0.36079341173171997f,1.479121208190918f,1.0192432403564453f,-0.9422738552093506f,0.32734206318855286f,0.17215792834758759f,0.20715229213237762f,0.3036012351512909f,-0.2405819296836853f,-0.21890388429164886f,-0.11870327591896057f,0.395515114068985f,1.847967267036438f,1.3426859378814697f,-1.3596293926239014f,0.3992917239665985f}, |
Lightvalve | 118:af86e883dcb4 | 241 | {0.047732532024383545f,-1.6215876340866089f,-1.8046064376831055f,-0.7025291323661804f,-0.15545719861984253f,1.4906500577926636f,-0.3198729455471039f,-0.09108348190784454f,0.1135697066783905f,-0.18822181224822998f,0.3120075464248657f,-0.5053715705871582f,-0.741367757320404f,0.7732160091400146f,-0.3683539628982544f,-1.4823510646820068f}, |
Lightvalve | 115:f41863b95e6f | 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 | 118:af86e883dcb4 | 243 | {-0.30922991037368774f,-3.549856185913086f,0.13726386427879333f,-0.44734057784080505f,-0.2542110085487366f,0.23402708768844604f,0.06395658850669861f,-0.08765485882759094f,-0.41971299052238464f,-0.8101474642753601f,0.03246985375881195f,0.176767498254776f,-1.846853256225586f,0.15457327663898468f,0.134054034948349f,-0.4904846251010895f}, |
Lightvalve | 112:8dcb1600cb90 | 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 | 118:af86e883dcb4 | 245 | {-0.37449589371681213f,0.18573783338069916f,0.017728952690958977f,-0.07189998775720596f,0.17248819768428802f,0.4640998840332031f,-0.18732719123363495f,0.06746524572372437f,-0.5911464691162109f,-0.29338914155960083f,-0.19333311915397644f,-0.055196281522512436f,0.0703820064663887f,1.1699786186218262f,1.3546981811523438f,-1.3225988149642944f}, |
Lightvalve | 118:af86e883dcb4 | 246 | {0.4110594093799591f,0.3527141213417053f,-0.08545524626970291f,0.37246426939964294f,0.3150569200515747f,-0.06213608384132385f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.21239498257637024f,0.030630826950073242f,0.28824782371520996f,-0.3391006588935852f}, |
Lightvalve | 113:4535bc97a1db | 247 | {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f}, |
Lightvalve | 115:f41863b95e6f | 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 | 112:8dcb1600cb90 | 249 | {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f}, |
Lightvalve | 118:af86e883dcb4 | 250 | {0.15459725260734558f,0.6321741342544556f,0.26077648997306824f,-0.12497477233409882f,-0.43533703684806824f,0.23836490511894226f,-0.15885387361049652f,-0.09889163821935654f,-0.23798367381095886f,-0.5303645133972168f,0.018210796639323235f,-0.5869696736335754f,0.16812960803508759f,-0.41072049736976624f,0.2991606295108795f,1.451149582862854f}, |
Lightvalve | 118:af86e883dcb4 | 251 | {-0.408692330121994f,-0.18435567617416382f,0.1490521878004074f,0.08683107048273087f,0.0728057473897934f,-0.2463478446006775f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4888150095939636f,-0.34697550535202026f,-0.3648682236671448f,0.20380957424640656f}, |
Lightvalve | 118:af86e883dcb4 | 252 | {-0.2991822361946106f,0.14224176108837128f,0.15648812055587769f,-0.05932474136352539f,0.3219054937362671f,0.019387593492865562f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.2699495255947113f,-0.3697388768196106f,0.13241605460643768f,-0.16869547963142395f}, |
Lightvalve | 118:af86e883dcb4 | 253 | {-0.2675279378890991f,-0.3864639103412628f,-0.36360350251197815f,0.058223359286785126f,0.01259082742035389f,-0.2988627254962921f,-0.45500972867012024f,-0.31893211603164673f,-0.47506827116012573f,-0.6956400275230408f,-0.4926331639289856f,-1.2168147563934326f,-0.21805618703365326f,-1.7307584285736084f,0.4814468324184418f,1.5982202291488647f}, |
Lightvalve | 118:af86e883dcb4 | 254 | {-0.015470266342163086f,0.46531155705451965f,0.37467139959335327f,-0.028886189684271812f,-0.3300264775753021f,-0.26294541358947754f,-0.07256490737199783f,-0.008358269929885864f,-0.4880097210407257f,-0.7111483812332153f,0.029397042468190193f,-0.27496859431266785f,0.9506001472473145f,0.7077613472938538f,0.653728723526001f,-1.284180760383606f}, |
Lightvalve | 118:af86e883dcb4 | 255 | {0.1863725483417511f,0.44253242015838623f,-0.8895649313926697f,-0.6261106133460999f,0.09252321720123291f,0.16897612810134888f,-0.03161505609750748f,0.024137338623404503f,-0.22729304432868958f,0.04278842732310295f,-0.5097978115081787f,-0.10846980661153793f,0.8339581489562988f,-0.7852450609207153f,-0.021044977009296417f,-0.29810839891433716f}, |
Lightvalve | 66:a8e6799dbce3 | 256 | }; |
Lightvalve | 65:a2d7c63419c2 | 257 | |
Lightvalve | 118:af86e883dcb4 | 258 | const float hout[16] = { 0.45773375034332275f,0.31911107897758484f,-0.1796216368675232f,0.02225276455283165f,0.00775682320818305f,0.2153143286705017f,-0.13896840810775757f,0.04725155979394913f,-0.09814572334289551f,-0.07557471096515656f,0.09471917152404785f,-0.2356099635362625f,-0.25121569633483887f,0.20179446041584015f,0.07052961736917496f,-0.4867629110813141f }; |
Lightvalve | 66:a8e6799dbce3 | 259 | |
Lightvalve | 118:af86e883dcb4 | 260 | const float b1[16] = { 1.6242481470108032f,1.5025521516799927f,-1.7145336866378784f,0.372548371553421f,1.024824857711792f,1.274719476699829f,-0.058932315558195114f,1.2145178318023682f,0.530387818813324f,-0.9235196709632874f,0.6003308892250061f,1.8733751773834229f,-0.9162682890892029f,-1.0943491458892822f,-1.087764859199524f,0.8950626850128174f }; |
Lightvalve | 87:471334725012 | 261 | |
Lightvalve | 118:af86e883dcb4 | 262 | const float b2[16] = { -0.48244044184684753f,-1.4596377611160278f,-1.4564176797866821f,-0.6742430925369263f,-0.6939148902893066f,0.03679073601961136f,0.10448678582906723f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.34773075580596924f,0.42268237471580505f,-0.27405646443367004f,1.7226717472076416f,-0.2819717824459076f,0.8814951777458191f }; |
Lightvalve | 65:a2d7c63419c2 | 263 | |
Lightvalve | 118:af86e883dcb4 | 264 | const float b3[16] = { -1.963319182395935f,-0.08225324749946594f,0.3287607431411743f,-0.12232505530118942f,-0.11128173768520355f,0.6797776818275452f,-0.5726286768913269f,-0.8121526837348938f,0.29713916778564453f,0.1593162715435028f,-0.25677886605262756f,-0.3984224200248718f,-0.38557979464530945f,-0.26475387811660767f,-1.1123615503311157f,-0.4025505483150482f }; |
Lightvalve | 87:471334725012 | 265 | |
Lightvalve | 118:af86e883dcb4 | 266 | const float bout[1] = { -0.17530457675457f }; |
Lightvalve | 65:a2d7c63419c2 | 267 | |
Lightvalve | 66:a8e6799dbce3 | 268 | |
Lightvalve | 87:471334725012 | 269 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 270 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 271 | |
GiJeongKim | 0:51c43836c1d7 | 272 | int main() |
GiJeongKim | 0:51c43836c1d7 | 273 | { |
Lightvalve | 66:a8e6799dbce3 | 274 | |
Lightvalve | 65:a2d7c63419c2 | 275 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 276 | SystemClock_Config(); |
Lightvalve | 65:a2d7c63419c2 | 277 | |
jobuuu | 6:df07d3491e3a | 278 | /********************************* |
jobuuu | 1:e04e563be5ce | 279 | *** Initialization |
jobuuu | 6:df07d3491e3a | 280 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 281 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 282 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 283 | |
GiJeongKim | 0:51c43836c1d7 | 284 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 285 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 286 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 287 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 288 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 289 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 290 | |
GiJeongKim | 0:51c43836c1d7 | 291 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 292 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 293 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 294 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 295 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 296 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 297 | |
Lightvalve | 16:903b5a4433b4 | 298 | //rom |
Lightvalve | 19:23b7c1ad8683 | 299 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 300 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 301 | |
GiJeongKim | 0:51c43836c1d7 | 302 | // ADC init |
jobuuu | 5:a4319f79457b | 303 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 304 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 305 | |
GiJeongKim | 0:51c43836c1d7 | 306 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 307 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 308 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 309 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 310 | |
Lightvalve | 11:82d8768d7351 | 311 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 312 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 313 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 314 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 315 | |
Lightvalve | 50:3c630b5eba9f | 316 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 317 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 318 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 319 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 320 | |
GiJeongKim | 0:51c43836c1d7 | 321 | // CAN |
jobuuu | 2:a1c0a37df760 | 322 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 323 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 324 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 325 | |
Lightvalve | 23:59218d4a256d | 326 | //Timer priority |
Lightvalve | 23:59218d4a256d | 327 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 328 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 329 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 330 | |
Lightvalve | 23:59218d4a256d | 331 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 332 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 333 | |
GiJeongKim | 0:51c43836c1d7 | 334 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 335 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 336 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 337 | |
Lightvalve | 11:82d8768d7351 | 338 | //DAC init |
Lightvalve | 58:2eade98630e2 | 339 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 340 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 341 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 342 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 343 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 344 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 345 | } |
Lightvalve | 11:82d8768d7351 | 346 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 347 | |
Lightvalve | 19:23b7c1ad8683 | 348 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 349 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 350 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 351 | else |
Lightvalve | 38:118df027d851 | 352 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 353 | } |
Lightvalve | 61:bc8c8270f0ab | 354 | |
Lightvalve | 61:bc8c8270f0ab | 355 | |
jobuuu | 6:df07d3491e3a | 356 | /************************************ |
jobuuu | 1:e04e563be5ce | 357 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 358 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 359 | while(1) { |
Lightvalve | 66:a8e6799dbce3 | 360 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 66:a8e6799dbce3 | 361 | //if(timer_while==1000) { |
Lightvalve | 65:a2d7c63419c2 | 362 | //i2c |
Lightvalve | 66:a8e6799dbce3 | 363 | |
Lightvalve | 65:a2d7c63419c2 | 364 | read_field(i2c_slave_addr1); |
Lightvalve | 65:a2d7c63419c2 | 365 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 65:a2d7c63419c2 | 366 | // if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 367 | // LED=0; |
Lightvalve | 65:a2d7c63419c2 | 368 | // } else |
Lightvalve | 65:a2d7c63419c2 | 369 | // LED = 1; |
Lightvalve | 65:a2d7c63419c2 | 370 | timer_while = 0; |
Lightvalve | 66:a8e6799dbce3 | 371 | //} |
Lightvalve | 66:a8e6799dbce3 | 372 | |
Lightvalve | 66:a8e6799dbce3 | 373 | timer_while ++; |
Lightvalve | 66:a8e6799dbce3 | 374 | |
Lightvalve | 87:471334725012 | 375 | //LED = 0; |
Lightvalve | 87:471334725012 | 376 | |
Lightvalve | 73:f80dc3970c99 | 377 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 378 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 379 | } |
Lightvalve | 66:a8e6799dbce3 | 380 | |
Lightvalve | 73:f80dc3970c99 | 381 | else if(NN_Control_Flag == 1) { |
Lightvalve | 117:7141c0517b82 | 382 | |
Lightvalve | 117:7141c0517b82 | 383 | int ind = 0; |
Lightvalve | 117:7141c0517b82 | 384 | for(int i=0; i<numpast_u; i++) { |
Lightvalve | 118:af86e883dcb4 | 385 | input_NN[ind] = u_past[time_interval*i]; |
Lightvalve | 117:7141c0517b82 | 386 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 387 | } |
Lightvalve | 117:7141c0517b82 | 388 | |
Lightvalve | 117:7141c0517b82 | 389 | for(int i=0; i<numpast_x; i++) { |
Lightvalve | 118:af86e883dcb4 | 390 | input_NN[ind] = x_past[time_interval*i] / 60.0f; |
Lightvalve | 117:7141c0517b82 | 391 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 392 | } |
Lightvalve | 117:7141c0517b82 | 393 | input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; |
Lightvalve | 117:7141c0517b82 | 394 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 395 | // for(int i=0;i<numfuture_x;i++){ |
Lightvalve | 118:af86e883dcb4 | 396 | // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; |
Lightvalve | 117:7141c0517b82 | 397 | // ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 398 | // } |
Lightvalve | 117:7141c0517b82 | 399 | |
Lightvalve | 117:7141c0517b82 | 400 | for(int i=0; i<numpast_f; i++) { |
Lightvalve | 118:af86e883dcb4 | 401 | input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; |
Lightvalve | 117:7141c0517b82 | 402 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 403 | } |
Lightvalve | 117:7141c0517b82 | 404 | input_NN[ind] = torq.sen / 10000.0f + 0.5f; |
Lightvalve | 117:7141c0517b82 | 405 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 406 | for(int i=0; i<numfuture_f; i++) { |
Lightvalve | 118:af86e883dcb4 | 407 | input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f; |
Lightvalve | 118:af86e883dcb4 | 408 | // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f; |
Lightvalve | 117:7141c0517b82 | 409 | ind = ind + 1; |
Lightvalve | 117:7141c0517b82 | 410 | } |
Lightvalve | 117:7141c0517b82 | 411 | |
Lightvalve | 112:8dcb1600cb90 | 412 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 413 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 414 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 415 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 416 | |
Lightvalve | 112:8dcb1600cb90 | 417 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 418 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 419 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 420 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 421 | } |
Lightvalve | 66:a8e6799dbce3 | 422 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 423 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 424 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 425 | } |
Lightvalve | 66:a8e6799dbce3 | 426 | } |
Lightvalve | 65:a2d7c63419c2 | 427 | |
Lightvalve | 112:8dcb1600cb90 | 428 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 429 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 430 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 431 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 432 | } |
Lightvalve | 66:a8e6799dbce3 | 433 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 434 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 435 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 436 | } |
Lightvalve | 66:a8e6799dbce3 | 437 | } |
Lightvalve | 65:a2d7c63419c2 | 438 | |
Lightvalve | 112:8dcb1600cb90 | 439 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 440 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 441 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 442 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 443 | } |
Lightvalve | 66:a8e6799dbce3 | 444 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 445 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 446 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 447 | } |
Lightvalve | 65:a2d7c63419c2 | 448 | } |
Lightvalve | 66:a8e6799dbce3 | 449 | |
Lightvalve | 66:a8e6799dbce3 | 450 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 451 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 452 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 453 | } |
Lightvalve | 66:a8e6799dbce3 | 454 | output = output + bout[index2]; |
Lightvalve | 73:f80dc3970c99 | 455 | |
Lightvalve | 66:a8e6799dbce3 | 456 | } |
Lightvalve | 73:f80dc3970c99 | 457 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 458 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 459 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 101:50159049a518 | 460 | |
Lightvalve | 66:a8e6799dbce3 | 461 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 462 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 463 | } else { |
Lightvalve | 66:a8e6799dbce3 | 464 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 465 | } |
Lightvalve | 87:471334725012 | 466 | |
Lightvalve | 88:d6e591bece22 | 467 | // // torque feedback |
Lightvalve | 88:d6e591bece22 | 468 | // torq.err = f_past[0] - torq.sen; //[N] |
Lightvalve | 88:d6e591bece22 | 469 | //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 88:d6e591bece22 | 470 | // torq.err_sum += torq.err/(float) 1500.0f; //[N] |
Lightvalve | 88:d6e591bece22 | 471 | // |
Lightvalve | 88:d6e591bece22 | 472 | // |
Lightvalve | 88:d6e591bece22 | 473 | // 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; |
Lightvalve | 88:d6e591bece22 | 474 | // |
Lightvalve | 88:d6e591bece22 | 475 | // if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 88:d6e591bece22 | 476 | // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 88:d6e591bece22 | 477 | // if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 88:d6e591bece22 | 478 | // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 479 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 480 | // valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 481 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 482 | // } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 88:d6e591bece22 | 483 | // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 484 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 485 | // valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 486 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 487 | // } |
Lightvalve | 88:d6e591bece22 | 488 | // } |
Lightvalve | 87:471334725012 | 489 | |
Lightvalve | 69:3995ffeaa786 | 490 | |
Lightvalve | 69:3995ffeaa786 | 491 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 492 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 493 | } else |
Lightvalve | 69:3995ffeaa786 | 494 | LED = 1; |
Lightvalve | 69:3995ffeaa786 | 495 | |
Lightvalve | 65:a2d7c63419c2 | 496 | } |
Lightvalve | 62:b5452adfb2cd | 497 | |
Lightvalve | 87:471334725012 | 498 | //LED = 1; |
Lightvalve | 69:3995ffeaa786 | 499 | |
Lightvalve | 66:a8e6799dbce3 | 500 | |
GiJeongKim | 0:51c43836c1d7 | 501 | } |
jobuuu | 1:e04e563be5ce | 502 | } |
jobuuu | 1:e04e563be5ce | 503 | |
Lightvalve | 33:91b17819ec30 | 504 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 505 | { |
Lightvalve | 14:8e7590227d22 | 506 | |
Lightvalve | 13:747daba9cf59 | 507 | int i = 0; |
Lightvalve | 48:889798ff9329 | 508 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 509 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 510 | 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 | 511 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 512 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 513 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 514 | } else { |
Lightvalve | 57:f4819de54e7a | 515 | 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 | 516 | } |
Lightvalve | 14:8e7590227d22 | 517 | } else { |
Lightvalve | 50:3c630b5eba9f | 518 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 519 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 520 | } else { |
Lightvalve | 57:f4819de54e7a | 521 | 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 | 522 | } |
Lightvalve | 13:747daba9cf59 | 523 | } |
Lightvalve | 13:747daba9cf59 | 524 | break; |
Lightvalve | 13:747daba9cf59 | 525 | } |
Lightvalve | 13:747daba9cf59 | 526 | } |
Lightvalve | 14:8e7590227d22 | 527 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 528 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 529 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 530 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 531 | } |
Lightvalve | 36:a46e63505ed8 | 532 | |
Lightvalve | 57:f4819de54e7a | 533 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 534 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 535 | |
Lightvalve | 13:747daba9cf59 | 536 | } |
jobuuu | 6:df07d3491e3a | 537 | |
jobuuu | 6:df07d3491e3a | 538 | |
Lightvalve | 30:8d561f16383b | 539 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 540 | { |
Lightvalve | 13:747daba9cf59 | 541 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 542 | |
Lightvalve | 38:118df027d851 | 543 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 544 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 545 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 546 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 547 | } |
Lightvalve | 38:118df027d851 | 548 | |
Lightvalve | 89:a7b45368ea0f | 549 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 550 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 551 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 552 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 553 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 554 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 555 | |
Lightvalve | 13:747daba9cf59 | 556 | 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 | 557 | |
Lightvalve | 18:b8adf1582ea3 | 558 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 559 | 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 | 560 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 561 | 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 | 562 | } else { |
Lightvalve | 48:889798ff9329 | 563 | 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 | 564 | } |
Lightvalve | 13:747daba9cf59 | 565 | break; |
Lightvalve | 13:747daba9cf59 | 566 | } |
Lightvalve | 13:747daba9cf59 | 567 | } |
Lightvalve | 59:f308b1656d9c | 568 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 569 | } |
Lightvalve | 13:747daba9cf59 | 570 | |
Lightvalve | 14:8e7590227d22 | 571 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 572 | 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 | 573 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 574 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 575 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 576 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 577 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 578 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 579 | 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 | 580 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 581 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 582 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 583 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 584 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 585 | }; // mV |
Lightvalve | 13:747daba9cf59 | 586 | |
Lightvalve | 30:8d561f16383b | 587 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 588 | { |
Lightvalve | 30:8d561f16383b | 589 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 590 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 591 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 592 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 593 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 594 | } else { |
Lightvalve | 13:747daba9cf59 | 595 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 596 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 597 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 598 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 599 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 600 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 601 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 602 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 603 | break; |
Lightvalve | 13:747daba9cf59 | 604 | } |
Lightvalve | 13:747daba9cf59 | 605 | } |
Lightvalve | 13:747daba9cf59 | 606 | } |
Lightvalve | 14:8e7590227d22 | 607 | |
Lightvalve | 13:747daba9cf59 | 608 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 609 | } |
jobuuu | 6:df07d3491e3a | 610 | |
Lightvalve | 57:f4819de54e7a | 611 | |
Lightvalve | 57:f4819de54e7a | 612 | |
Lightvalve | 57:f4819de54e7a | 613 | |
Lightvalve | 57:f4819de54e7a | 614 | |
jobuuu | 2:a1c0a37df760 | 615 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 616 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 617 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 618 | |
Lightvalve | 51:b46bed7fec80 | 619 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 620 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 621 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 622 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 623 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 624 | { |
Lightvalve | 19:23b7c1ad8683 | 625 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 626 | |
Lightvalve | 21:e5f1a43ea6f9 | 627 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 628 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 629 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 630 | |
Lightvalve | 57:f4819de54e7a | 631 | //Encoder |
Lightvalve | 57:f4819de54e7a | 632 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 633 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 634 | } |
Lightvalve | 61:bc8c8270f0ab | 635 | |
Lightvalve | 61:bc8c8270f0ab | 636 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 637 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 638 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 639 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 640 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 641 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 642 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 643 | |
Lightvalve | 67:c2812cf26c38 | 644 | |
Lightvalve | 67:c2812cf26c38 | 645 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 646 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 647 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 648 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 649 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 650 | |
Lightvalve | 17:1865016ca2e7 | 651 | |
Lightvalve | 58:2eade98630e2 | 652 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 653 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 654 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 655 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 656 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 657 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 658 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 659 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 660 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 661 | |
Lightvalve | 58:2eade98630e2 | 662 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 663 | 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 | 664 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 665 | 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 | 666 | } |
Lightvalve | 58:2eade98630e2 | 667 | } |
Lightvalve | 61:bc8c8270f0ab | 668 | |
Lightvalve | 58:2eade98630e2 | 669 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 670 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 671 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 672 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 673 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 674 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 675 | // 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 | 676 | // |
Lightvalve | 58:2eade98630e2 | 677 | // |
Lightvalve | 58:2eade98630e2 | 678 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 679 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 680 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 681 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 682 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 683 | |
Lightvalve | 17:1865016ca2e7 | 684 | |
Lightvalve | 21:e5f1a43ea6f9 | 685 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 686 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 687 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 688 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 689 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 690 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 691 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 692 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 693 | |
Lightvalve | 57:f4819de54e7a | 694 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 695 | } |
Lightvalve | 11:82d8768d7351 | 696 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 697 | } |
Lightvalve | 19:23b7c1ad8683 | 698 | |
Lightvalve | 19:23b7c1ad8683 | 699 | |
Lightvalve | 18:b8adf1582ea3 | 700 | int j =0; |
Lightvalve | 54:647072f5307a | 701 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 702 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 703 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 704 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 705 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 706 | |
Lightvalve | 11:82d8768d7351 | 707 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 708 | { |
Lightvalve | 19:23b7c1ad8683 | 709 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 710 | |
Lightvalve | 57:f4819de54e7a | 711 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 712 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 713 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 714 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 715 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 716 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 717 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 718 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 719 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 720 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 721 | } |
Lightvalve | 50:3c630b5eba9f | 722 | |
Lightvalve | 50:3c630b5eba9f | 723 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 724 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 725 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 726 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 727 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 728 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 729 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 730 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 731 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 732 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 733 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 734 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 735 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 736 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 737 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 738 | } else { |
Lightvalve | 58:2eade98630e2 | 739 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 740 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 741 | } |
Lightvalve | 45:35fa6884d0c6 | 742 | |
Lightvalve | 50:3c630b5eba9f | 743 | |
Lightvalve | 57:f4819de54e7a | 744 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 745 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 746 | |
Lightvalve | 57:f4819de54e7a | 747 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 748 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 749 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 750 | } else { |
Lightvalve | 57:f4819de54e7a | 751 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 752 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 753 | } |
Lightvalve | 56:6f50d9d3bfee | 754 | |
Lightvalve | 56:6f50d9d3bfee | 755 | |
Lightvalve | 56:6f50d9d3bfee | 756 | |
Lightvalve | 57:f4819de54e7a | 757 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 758 | |
Lightvalve | 57:f4819de54e7a | 759 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 760 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 761 | break; |
Lightvalve | 13:747daba9cf59 | 762 | } |
Lightvalve | 14:8e7590227d22 | 763 | |
Lightvalve | 14:8e7590227d22 | 764 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 765 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 766 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 767 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 768 | |
Lightvalve | 14:8e7590227d22 | 769 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 770 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 771 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 772 | |
Lightvalve | 84:c355d3e52bf1 | 773 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 774 | |
Lightvalve | 30:8d561f16383b | 775 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 776 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 777 | |
Lightvalve | 16:903b5a4433b4 | 778 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 779 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 780 | } |
Lightvalve | 13:747daba9cf59 | 781 | } else { |
Lightvalve | 58:2eade98630e2 | 782 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 783 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 784 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 785 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 786 | |
Lightvalve | 16:903b5a4433b4 | 787 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 788 | |
Lightvalve | 30:8d561f16383b | 789 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 790 | |
Lightvalve | 13:747daba9cf59 | 791 | } |
Lightvalve | 14:8e7590227d22 | 792 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 793 | break; |
Lightvalve | 19:23b7c1ad8683 | 794 | } |
Lightvalve | 14:8e7590227d22 | 795 | |
Lightvalve | 50:3c630b5eba9f | 796 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 797 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 798 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 799 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 800 | // } |
Lightvalve | 50:3c630b5eba9f | 801 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 802 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 803 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 804 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 805 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 806 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 807 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 808 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 809 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 810 | // } |
Lightvalve | 50:3c630b5eba9f | 811 | // |
Lightvalve | 50:3c630b5eba9f | 812 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 813 | // 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 | 814 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 815 | // |
Lightvalve | 50:3c630b5eba9f | 816 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 817 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 818 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 819 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 820 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 821 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 822 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 823 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 824 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 825 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 826 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 827 | // |
Lightvalve | 50:3c630b5eba9f | 828 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 829 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 830 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 831 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 832 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 833 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 834 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 835 | // |
Lightvalve | 50:3c630b5eba9f | 836 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 837 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 838 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 839 | // } else { |
Lightvalve | 50:3c630b5eba9f | 840 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 841 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 842 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 843 | // } |
Lightvalve | 50:3c630b5eba9f | 844 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 845 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 846 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 847 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 848 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 849 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 850 | // } |
Lightvalve | 50:3c630b5eba9f | 851 | // } else { |
Lightvalve | 50:3c630b5eba9f | 852 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 853 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 854 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 855 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 856 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 857 | // } |
Lightvalve | 50:3c630b5eba9f | 858 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 859 | // |
Lightvalve | 50:3c630b5eba9f | 860 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 861 | // |
Lightvalve | 50:3c630b5eba9f | 862 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 863 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 864 | // |
Lightvalve | 50:3c630b5eba9f | 865 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 866 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 867 | // } |
Lightvalve | 50:3c630b5eba9f | 868 | // } |
Lightvalve | 50:3c630b5eba9f | 869 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 870 | // break; |
Lightvalve | 50:3c630b5eba9f | 871 | // } |
Lightvalve | 14:8e7590227d22 | 872 | |
Lightvalve | 14:8e7590227d22 | 873 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 874 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 875 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 876 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 877 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 878 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 879 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 880 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 881 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 882 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 883 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 884 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 885 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 886 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 887 | } |
Lightvalve | 29:69f3f5445d6d | 888 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 889 | |
Lightvalve | 29:69f3f5445d6d | 890 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 891 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 892 | } else { |
Lightvalve | 29:69f3f5445d6d | 893 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 894 | } |
Lightvalve | 19:23b7c1ad8683 | 895 | |
Lightvalve | 57:f4819de54e7a | 896 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 897 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 898 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 899 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 900 | |
Lightvalve | 59:f308b1656d9c | 901 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 902 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 903 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 904 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 905 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 906 | |
Lightvalve | 59:f308b1656d9c | 907 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 908 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 909 | |
Lightvalve | 34:bb2ca2fc2a8e | 910 | |
Lightvalve | 29:69f3f5445d6d | 911 | } else { |
Lightvalve | 29:69f3f5445d6d | 912 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 913 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 914 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 915 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 916 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 917 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 918 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 919 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 920 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 921 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 922 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 923 | |
Lightvalve | 67:c2812cf26c38 | 924 | |
Lightvalve | 67:c2812cf26c38 | 925 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 926 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 927 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 928 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 929 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 930 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 931 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 932 | |
Lightvalve | 67:c2812cf26c38 | 933 | |
Lightvalve | 29:69f3f5445d6d | 934 | } |
Lightvalve | 29:69f3f5445d6d | 935 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 936 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 937 | 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 | 938 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 939 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 940 | |
Lightvalve | 29:69f3f5445d6d | 941 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 942 | |
Lightvalve | 67:c2812cf26c38 | 943 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 944 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 945 | |
Lightvalve | 67:c2812cf26c38 | 946 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 947 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 948 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 949 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 950 | |
Lightvalve | 67:c2812cf26c38 | 951 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 952 | |
Lightvalve | 67:c2812cf26c38 | 953 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 954 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 955 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 956 | |
Lightvalve | 67:c2812cf26c38 | 957 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 958 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 959 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 960 | |
Lightvalve | 69:3995ffeaa786 | 961 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 962 | 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 | 963 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 964 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 965 | 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 | 966 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 967 | } |
Lightvalve | 67:c2812cf26c38 | 968 | 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 | 969 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 970 | |
Lightvalve | 67:c2812cf26c38 | 971 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 972 | |
Lightvalve | 67:c2812cf26c38 | 973 | |
Lightvalve | 67:c2812cf26c38 | 974 | |
Lightvalve | 67:c2812cf26c38 | 975 | } else { |
Lightvalve | 67:c2812cf26c38 | 976 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 977 | 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 | 978 | |
Lightvalve | 67:c2812cf26c38 | 979 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 980 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 981 | } else { |
Lightvalve | 67:c2812cf26c38 | 982 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 983 | } |
Lightvalve | 67:c2812cf26c38 | 984 | |
Lightvalve | 67:c2812cf26c38 | 985 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 986 | |
Lightvalve | 67:c2812cf26c38 | 987 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 988 | |
Lightvalve | 67:c2812cf26c38 | 989 | } |
Lightvalve | 67:c2812cf26c38 | 990 | |
Lightvalve | 67:c2812cf26c38 | 991 | |
Lightvalve | 67:c2812cf26c38 | 992 | |
Lightvalve | 67:c2812cf26c38 | 993 | |
Lightvalve | 59:f308b1656d9c | 994 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 995 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 996 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 997 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 998 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 999 | |
Lightvalve | 29:69f3f5445d6d | 1000 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 1001 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 1002 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 1003 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 1004 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1005 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 1006 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 1007 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 1008 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 1009 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 1010 | } |
Lightvalve | 13:747daba9cf59 | 1011 | } |
Lightvalve | 19:23b7c1ad8683 | 1012 | |
Lightvalve | 13:747daba9cf59 | 1013 | break; |
Lightvalve | 13:747daba9cf59 | 1014 | } |
Lightvalve | 14:8e7590227d22 | 1015 | |
Lightvalve | 50:3c630b5eba9f | 1016 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 1017 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 1018 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 1019 | // else { |
Lightvalve | 50:3c630b5eba9f | 1020 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1021 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 1022 | // } |
Lightvalve | 50:3c630b5eba9f | 1023 | // } |
Lightvalve | 50:3c630b5eba9f | 1024 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1025 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1026 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1027 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1028 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1029 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1030 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1031 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1032 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1033 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1034 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1035 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1036 | // } |
Lightvalve | 50:3c630b5eba9f | 1037 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1038 | // } |
Lightvalve | 50:3c630b5eba9f | 1039 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1040 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1041 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1042 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1043 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1044 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1045 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1046 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1047 | // 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 | 1048 | // // 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 | 1049 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1050 | // } |
Lightvalve | 50:3c630b5eba9f | 1051 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1052 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1053 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1054 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1055 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1056 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1057 | // 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 | 1058 | // // 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 | 1059 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1060 | // } |
Lightvalve | 50:3c630b5eba9f | 1061 | // } |
Lightvalve | 50:3c630b5eba9f | 1062 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1063 | // |
Lightvalve | 50:3c630b5eba9f | 1064 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1065 | // |
Lightvalve | 50:3c630b5eba9f | 1066 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1067 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1068 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1069 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1070 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1071 | // } |
Lightvalve | 50:3c630b5eba9f | 1072 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1073 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1074 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1075 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1076 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1077 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1078 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1079 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1080 | // } |
Lightvalve | 50:3c630b5eba9f | 1081 | // |
Lightvalve | 50:3c630b5eba9f | 1082 | // } |
Lightvalve | 50:3c630b5eba9f | 1083 | // break; |
Lightvalve | 50:3c630b5eba9f | 1084 | // } |
Lightvalve | 50:3c630b5eba9f | 1085 | // |
Lightvalve | 50:3c630b5eba9f | 1086 | // } |
Lightvalve | 14:8e7590227d22 | 1087 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1088 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1089 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1090 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1091 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1092 | |
Lightvalve | 14:8e7590227d22 | 1093 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1094 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1095 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1096 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1097 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1098 | |
Lightvalve | 38:118df027d851 | 1099 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1100 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1101 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1102 | |
Lightvalve | 30:8d561f16383b | 1103 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1104 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1105 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1106 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1107 | |
Lightvalve | 30:8d561f16383b | 1108 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1109 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1110 | } |
Lightvalve | 13:747daba9cf59 | 1111 | } else { |
Lightvalve | 57:f4819de54e7a | 1112 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1113 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1114 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1115 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1116 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1117 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1118 | |
Lightvalve | 16:903b5a4433b4 | 1119 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1120 | |
Lightvalve | 30:8d561f16383b | 1121 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1122 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1123 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1124 | } |
Lightvalve | 14:8e7590227d22 | 1125 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1126 | break; |
Lightvalve | 13:747daba9cf59 | 1127 | } |
Lightvalve | 14:8e7590227d22 | 1128 | |
Lightvalve | 50:3c630b5eba9f | 1129 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1130 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1131 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1132 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1133 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1134 | // } |
Lightvalve | 50:3c630b5eba9f | 1135 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1136 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1137 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1138 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1139 | // } |
Lightvalve | 50:3c630b5eba9f | 1140 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1141 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1142 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1143 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1144 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1145 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1146 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1147 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1148 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1149 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1150 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1151 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1152 | // |
Lightvalve | 50:3c630b5eba9f | 1153 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1154 | // |
Lightvalve | 50:3c630b5eba9f | 1155 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1156 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1157 | // } |
Lightvalve | 50:3c630b5eba9f | 1158 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1159 | // break; |
Lightvalve | 50:3c630b5eba9f | 1160 | // } |
Lightvalve | 19:23b7c1ad8683 | 1161 | |
Lightvalve | 50:3c630b5eba9f | 1162 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1163 | // 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 | 1164 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1165 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1166 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1167 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1168 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1169 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1170 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1171 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1172 | // } |
Lightvalve | 50:3c630b5eba9f | 1173 | // break; |
Lightvalve | 50:3c630b5eba9f | 1174 | // } |
Lightvalve | 14:8e7590227d22 | 1175 | |
Lightvalve | 14:8e7590227d22 | 1176 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1177 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1178 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1179 | |
Lightvalve | 14:8e7590227d22 | 1180 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1181 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1182 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1183 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1184 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1185 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1186 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1187 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1188 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1189 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1190 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1191 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1192 | } else { |
Lightvalve | 13:747daba9cf59 | 1193 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1194 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1195 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1196 | } |
Lightvalve | 14:8e7590227d22 | 1197 | |
Lightvalve | 17:1865016ca2e7 | 1198 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1199 | int i; |
Lightvalve | 13:747daba9cf59 | 1200 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1201 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1202 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1203 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1204 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1205 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1206 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1207 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1208 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1209 | } |
Lightvalve | 13:747daba9cf59 | 1210 | } |
Lightvalve | 59:f308b1656d9c | 1211 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1212 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1213 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1214 | } |
Lightvalve | 14:8e7590227d22 | 1215 | |
Lightvalve | 14:8e7590227d22 | 1216 | |
Lightvalve | 13:747daba9cf59 | 1217 | break; |
Lightvalve | 13:747daba9cf59 | 1218 | } |
Lightvalve | 14:8e7590227d22 | 1219 | |
Lightvalve | 14:8e7590227d22 | 1220 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1221 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1222 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1223 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1224 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1225 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1226 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1227 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1228 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1229 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1230 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1231 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1232 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1233 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1234 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1235 | 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 | 1236 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1237 | 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 | 1238 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1239 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1240 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1241 | 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 | 1242 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1243 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1244 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1245 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1246 | |
Lightvalve | 30:8d561f16383b | 1247 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1248 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1249 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1250 | |
Lightvalve | 30:8d561f16383b | 1251 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1252 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1253 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1254 | |
Lightvalve | 30:8d561f16383b | 1255 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1256 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1257 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1258 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1259 | |
Lightvalve | 60:64181f1d3e60 | 1260 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1261 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1262 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1263 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1264 | } else { |
Lightvalve | 13:747daba9cf59 | 1265 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1266 | } |
Lightvalve | 61:bc8c8270f0ab | 1267 | |
Lightvalve | 60:64181f1d3e60 | 1268 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1269 | |
Lightvalve | 13:747daba9cf59 | 1270 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1271 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1272 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1273 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1274 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1275 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1276 | |
Lightvalve | 13:747daba9cf59 | 1277 | } |
Lightvalve | 19:23b7c1ad8683 | 1278 | } else { |
Lightvalve | 14:8e7590227d22 | 1279 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1280 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1281 | 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 | 1282 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1283 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1284 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1285 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1286 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1287 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1288 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1289 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1290 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1291 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1292 | } |
Lightvalve | 14:8e7590227d22 | 1293 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1294 | |
Lightvalve | 30:8d561f16383b | 1295 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1296 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1297 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1298 | |
Lightvalve | 14:8e7590227d22 | 1299 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1300 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1301 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1302 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1303 | } else { |
Lightvalve | 13:747daba9cf59 | 1304 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1305 | } |
Lightvalve | 14:8e7590227d22 | 1306 | |
Lightvalve | 13:747daba9cf59 | 1307 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1308 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1309 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1310 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1311 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1312 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1313 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1314 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1315 | } |
Lightvalve | 13:747daba9cf59 | 1316 | } |
Lightvalve | 14:8e7590227d22 | 1317 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1318 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1319 | 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 | 1320 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1321 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1322 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1323 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1324 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1325 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1326 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1327 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1328 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1329 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1330 | } |
Lightvalve | 14:8e7590227d22 | 1331 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1332 | |
Lightvalve | 30:8d561f16383b | 1333 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1334 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1335 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1336 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1337 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1338 | |
Lightvalve | 14:8e7590227d22 | 1339 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1340 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1341 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1342 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1343 | } else { |
Lightvalve | 60:64181f1d3e60 | 1344 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1345 | } |
Lightvalve | 14:8e7590227d22 | 1346 | |
Lightvalve | 13:747daba9cf59 | 1347 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1348 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1349 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1350 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1351 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1352 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1353 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1354 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1355 | |
Lightvalve | 16:903b5a4433b4 | 1356 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1357 | |
Lightvalve | 60:64181f1d3e60 | 1358 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1359 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1360 | } |
Lightvalve | 13:747daba9cf59 | 1361 | } |
Lightvalve | 14:8e7590227d22 | 1362 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1363 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1364 | 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 | 1365 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1366 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1367 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1368 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1369 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1370 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1371 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1372 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1373 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1374 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1375 | } |
Lightvalve | 14:8e7590227d22 | 1376 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1377 | |
Lightvalve | 30:8d561f16383b | 1378 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1379 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1380 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1381 | |
Lightvalve | 14:8e7590227d22 | 1382 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1383 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1384 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1385 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1386 | } else { |
Lightvalve | 13:747daba9cf59 | 1387 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1388 | } |
Lightvalve | 13:747daba9cf59 | 1389 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1390 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1391 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1392 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1393 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1394 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1395 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1396 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1397 | } |
Lightvalve | 13:747daba9cf59 | 1398 | } |
Lightvalve | 14:8e7590227d22 | 1399 | } else { |
Lightvalve | 30:8d561f16383b | 1400 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1401 | 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 | 1402 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1403 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1404 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1405 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1406 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1407 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1408 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1409 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1410 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1411 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1412 | } |
Lightvalve | 14:8e7590227d22 | 1413 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1414 | |
Lightvalve | 30:8d561f16383b | 1415 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1416 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1417 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1418 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1419 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 1420 | |
Lightvalve | 60:64181f1d3e60 | 1421 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1422 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1423 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1424 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1425 | } else { |
Lightvalve | 13:747daba9cf59 | 1426 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1427 | } |
Lightvalve | 14:8e7590227d22 | 1428 | |
Lightvalve | 13:747daba9cf59 | 1429 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1430 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1431 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1432 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1433 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1434 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1435 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1436 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1437 | |
Lightvalve | 59:f308b1656d9c | 1438 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1439 | |
Lightvalve | 57:f4819de54e7a | 1440 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1441 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1442 | } |
Lightvalve | 13:747daba9cf59 | 1443 | } |
Lightvalve | 13:747daba9cf59 | 1444 | } |
Lightvalve | 14:8e7590227d22 | 1445 | } |
Lightvalve | 13:747daba9cf59 | 1446 | break; |
Lightvalve | 13:747daba9cf59 | 1447 | } |
Lightvalve | 14:8e7590227d22 | 1448 | |
Lightvalve | 14:8e7590227d22 | 1449 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1450 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1451 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1452 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1453 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1454 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1455 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1456 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1457 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1458 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1459 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1460 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1461 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1462 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1463 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1464 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1465 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1466 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1467 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1468 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1469 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1470 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1471 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1472 | } |
Lightvalve | 14:8e7590227d22 | 1473 | } else { |
Lightvalve | 30:8d561f16383b | 1474 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1475 | //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 | 1476 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1477 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1478 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1479 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1480 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1481 | |
Lightvalve | 14:8e7590227d22 | 1482 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1483 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1484 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1485 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1486 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1487 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1488 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1489 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1490 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1491 | } |
Lightvalve | 30:8d561f16383b | 1492 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1493 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1494 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1495 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1496 | } |
Lightvalve | 14:8e7590227d22 | 1497 | |
Lightvalve | 14:8e7590227d22 | 1498 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1499 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1500 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1501 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1502 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1503 | } |
Lightvalve | 13:747daba9cf59 | 1504 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1505 | |
Lightvalve | 13:747daba9cf59 | 1506 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1507 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1508 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1509 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1510 | } |
Lightvalve | 14:8e7590227d22 | 1511 | |
Lightvalve | 14:8e7590227d22 | 1512 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1513 | |
Lightvalve | 13:747daba9cf59 | 1514 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1515 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1516 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1517 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1518 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1519 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1520 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1521 | } |
Lightvalve | 13:747daba9cf59 | 1522 | } |
Lightvalve | 13:747daba9cf59 | 1523 | break; |
Lightvalve | 13:747daba9cf59 | 1524 | } |
Lightvalve | 58:2eade98630e2 | 1525 | |
Lightvalve | 57:f4819de54e7a | 1526 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1527 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1528 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1529 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1530 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1531 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1532 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1533 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1534 | } |
Lightvalve | 57:f4819de54e7a | 1535 | break; |
Lightvalve | 57:f4819de54e7a | 1536 | } |
Lightvalve | 58:2eade98630e2 | 1537 | |
Lightvalve | 58:2eade98630e2 | 1538 | |
Lightvalve | 57:f4819de54e7a | 1539 | |
Lightvalve | 57:f4819de54e7a | 1540 | default: |
Lightvalve | 57:f4819de54e7a | 1541 | break; |
Lightvalve | 57:f4819de54e7a | 1542 | } |
Lightvalve | 57:f4819de54e7a | 1543 | |
Lightvalve | 57:f4819de54e7a | 1544 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1545 | |
Lightvalve | 57:f4819de54e7a | 1546 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1547 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1548 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1549 | break; |
Lightvalve | 57:f4819de54e7a | 1550 | } |
Lightvalve | 57:f4819de54e7a | 1551 | |
Lightvalve | 57:f4819de54e7a | 1552 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1553 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1554 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1555 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1556 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1557 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1558 | } else { |
Lightvalve | 67:c2812cf26c38 | 1559 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1560 | } |
Lightvalve | 58:2eade98630e2 | 1561 | |
Lightvalve | 57:f4819de54e7a | 1562 | break; |
Lightvalve | 57:f4819de54e7a | 1563 | } |
Lightvalve | 57:f4819de54e7a | 1564 | |
Lightvalve | 57:f4819de54e7a | 1565 | case MODE_JOINT_CONTROL: { |
Lightvalve | 57:f4819de54e7a | 1566 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1567 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1568 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1569 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1570 | |
Lightvalve | 67:c2812cf26c38 | 1571 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1572 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1573 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1574 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1575 | |
Lightvalve | 67:c2812cf26c38 | 1576 | torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 57:f4819de54e7a | 1577 | |
Lightvalve | 57:f4819de54e7a | 1578 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1579 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1580 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1581 | |
Lightvalve | 57:f4819de54e7a | 1582 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1583 | |
Lightvalve | 57:f4819de54e7a | 1584 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1585 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1586 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1587 | |
Lightvalve | 57:f4819de54e7a | 1588 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1589 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1590 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1591 | |
Lightvalve | 69:3995ffeaa786 | 1592 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1593 | 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 | 1594 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1595 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1596 | 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 | 1597 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1598 | } |
Lightvalve | 57:f4819de54e7a | 1599 | 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 | 1600 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1601 | |
Lightvalve | 57:f4819de54e7a | 1602 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 1603 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1604 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1605 | // 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 | 1606 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1607 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1608 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1609 | 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 | 1610 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1611 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1612 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1613 | } |
Lightvalve | 57:f4819de54e7a | 1614 | 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 | 1615 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1616 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1617 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1618 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1619 | |
Lightvalve | 57:f4819de54e7a | 1620 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1621 | |
Lightvalve | 67:c2812cf26c38 | 1622 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1623 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1624 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1625 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1626 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1627 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1628 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1629 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1630 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1631 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1632 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1633 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1634 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1635 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1636 | } |
Lightvalve | 67:c2812cf26c38 | 1637 | } |
Lightvalve | 57:f4819de54e7a | 1638 | |
Lightvalve | 57:f4819de54e7a | 1639 | } else { |
Lightvalve | 57:f4819de54e7a | 1640 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1641 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1642 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1643 | |
Lightvalve | 57:f4819de54e7a | 1644 | 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 | 1645 | + 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 | 1646 | |
Lightvalve | 72:3436ce769b1e | 1647 | 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 | 72:3436ce769b1e | 1648 | |
Lightvalve | 72:3436ce769b1e | 1649 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 72:3436ce769b1e | 1650 | |
Lightvalve | 72:3436ce769b1e | 1651 | |
Lightvalve | 72:3436ce769b1e | 1652 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 1653 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1654 | } else { |
Lightvalve | 72:3436ce769b1e | 1655 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1656 | } |
Lightvalve | 57:f4819de54e7a | 1657 | |
Lightvalve | 57:f4819de54e7a | 1658 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 57:f4819de54e7a | 1659 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1660 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1661 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1662 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1663 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1664 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1665 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1666 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1667 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1668 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1669 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1670 | } |
Lightvalve | 57:f4819de54e7a | 1671 | } |
Lightvalve | 61:bc8c8270f0ab | 1672 | |
Lightvalve | 57:f4819de54e7a | 1673 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1674 | |
Lightvalve | 67:c2812cf26c38 | 1675 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1676 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1677 | |
Lightvalve | 57:f4819de54e7a | 1678 | } |
Lightvalve | 72:3436ce769b1e | 1679 | |
Lightvalve | 72:3436ce769b1e | 1680 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 1681 | |
Lightvalve | 57:f4819de54e7a | 1682 | break; |
Lightvalve | 57:f4819de54e7a | 1683 | } |
Lightvalve | 58:2eade98630e2 | 1684 | |
Lightvalve | 57:f4819de54e7a | 1685 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1686 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1687 | break; |
Lightvalve | 57:f4819de54e7a | 1688 | } |
Lightvalve | 14:8e7590227d22 | 1689 | |
Lightvalve | 12:6f2531038ea4 | 1690 | default: |
Lightvalve | 12:6f2531038ea4 | 1691 | break; |
Lightvalve | 12:6f2531038ea4 | 1692 | } |
Lightvalve | 14:8e7590227d22 | 1693 | |
Lightvalve | 57:f4819de54e7a | 1694 | |
Lightvalve | 57:f4819de54e7a | 1695 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1696 | |
Lightvalve | 57:f4819de54e7a | 1697 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1698 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1699 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1700 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1701 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1702 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1703 | |
Lightvalve | 57:f4819de54e7a | 1704 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1705 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1706 | |
Lightvalve | 57:f4819de54e7a | 1707 | |
Lightvalve | 57:f4819de54e7a | 1708 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1709 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1710 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1711 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1712 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1713 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1714 | |
Lightvalve | 57:f4819de54e7a | 1715 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1716 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1717 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1718 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1719 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1720 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1721 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1722 | } |
Lightvalve | 57:f4819de54e7a | 1723 | |
Lightvalve | 57:f4819de54e7a | 1724 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1725 | |
Lightvalve | 67:c2812cf26c38 | 1726 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1727 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1728 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1729 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1730 | // 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 | 1731 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1732 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1733 | |
Lightvalve | 57:f4819de54e7a | 1734 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1735 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1736 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1737 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1738 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1739 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1740 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1741 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1742 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1743 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1744 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1745 | } |
Lightvalve | 57:f4819de54e7a | 1746 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1747 | } else { |
Lightvalve | 57:f4819de54e7a | 1748 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1749 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1750 | } |
Lightvalve | 57:f4819de54e7a | 1751 | |
Lightvalve | 57:f4819de54e7a | 1752 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1753 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1754 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1755 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1756 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1757 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1758 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1759 | |
Lightvalve | 57:f4819de54e7a | 1760 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1761 | |
Lightvalve | 57:f4819de54e7a | 1762 | } else { |
Lightvalve | 57:f4819de54e7a | 1763 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1764 | } |
Lightvalve | 57:f4819de54e7a | 1765 | |
Lightvalve | 57:f4819de54e7a | 1766 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1767 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1768 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1769 | |
Lightvalve | 57:f4819de54e7a | 1770 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1771 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1772 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1773 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1774 | } |
Lightvalve | 89:a7b45368ea0f | 1775 | else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 1776 | // Output Voltage Linearization |
Lightvalve | 89:a7b45368ea0f | 1777 | double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 89:a7b45368ea0f | 1778 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 1779 | |
Lightvalve | 89:a7b45368ea0f | 1780 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 89:a7b45368ea0f | 1781 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 89:a7b45368ea0f | 1782 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 89:a7b45368ea0f | 1783 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 89:a7b45368ea0f | 1784 | } |
Lightvalve | 67:c2812cf26c38 | 1785 | |
Lightvalve | 67:c2812cf26c38 | 1786 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1787 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1788 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1789 | |
jobuuu | 7:e9086c72bb22 | 1790 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1791 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1792 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1793 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1794 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1795 | } |
Lightvalve | 67:c2812cf26c38 | 1796 | |
Lightvalve | 49:e7bcfc244d40 | 1797 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1798 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1799 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1800 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1801 | } |
Lightvalve | 49:e7bcfc244d40 | 1802 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1803 | |
Lightvalve | 19:23b7c1ad8683 | 1804 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1805 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1806 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1807 | |
Lightvalve | 30:8d561f16383b | 1808 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1809 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1810 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1811 | } else { |
jobuuu | 2:a1c0a37df760 | 1812 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1813 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1814 | } |
Lightvalve | 13:747daba9cf59 | 1815 | |
jobuuu | 1:e04e563be5ce | 1816 | //pwm |
Lightvalve | 30:8d561f16383b | 1817 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1818 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1819 | |
Lightvalve | 61:bc8c8270f0ab | 1820 | |
Lightvalve | 57:f4819de54e7a | 1821 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1822 | |
Lightvalve | 54:647072f5307a | 1823 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1824 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1825 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1826 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1827 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1828 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1829 | 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 | 1830 | } |
Lightvalve | 57:f4819de54e7a | 1831 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1832 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1833 | 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 | 1834 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1835 | 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 | 1836 | } |
Lightvalve | 52:8ea76864368a | 1837 | } |
Lightvalve | 52:8ea76864368a | 1838 | } |
Lightvalve | 56:6f50d9d3bfee | 1839 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1840 | //valve position |
Lightvalve | 54:647072f5307a | 1841 | double t_value = 0; |
Lightvalve | 97:d71c57e3515e | 1842 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1843 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1844 | } else { |
Lightvalve | 97:d71c57e3515e | 1845 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1846 | } |
Lightvalve | 97:d71c57e3515e | 1847 | // if(OPERATING_MODE==5) { |
Lightvalve | 97:d71c57e3515e | 1848 | // if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1849 | // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1850 | // } else { |
Lightvalve | 97:d71c57e3515e | 1851 | // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1852 | // } |
Lightvalve | 97:d71c57e3515e | 1853 | //t_value = (double) value; |
Lightvalve | 97:d71c57e3515e | 1854 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 97:d71c57e3515e | 1855 | // t_value = cur.sen * 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1856 | // } else { |
Lightvalve | 97:d71c57e3515e | 1857 | // t_value = V_out; |
Lightvalve | 89:a7b45368ea0f | 1858 | // } |
Lightvalve | 67:c2812cf26c38 | 1859 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1860 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1861 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1862 | } |
Lightvalve | 58:2eade98630e2 | 1863 | |
Lightvalve | 58:2eade98630e2 | 1864 | |
Lightvalve | 98:cd1b2da4704f | 1865 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 89:a7b45368ea0f | 1866 | //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400 |
Lightvalve | 89:a7b45368ea0f | 1867 | double t_value = 0; |
Lightvalve | 89:a7b45368ea0f | 1868 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 89:a7b45368ea0f | 1869 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1870 | } else { |
Lightvalve | 89:a7b45368ea0f | 1871 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1872 | } |
Lightvalve | 89:a7b45368ea0f | 1873 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400 |
Lightvalve | 55:b25725257569 | 1874 | } |
Lightvalve | 58:2eade98630e2 | 1875 | |
Lightvalve | 57:f4819de54e7a | 1876 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1877 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1878 | ; |
Lightvalve | 57:f4819de54e7a | 1879 | } |
Lightvalve | 58:2eade98630e2 | 1880 | |
Lightvalve | 56:6f50d9d3bfee | 1881 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1882 | //PWM |
Lightvalve | 73:f80dc3970c99 | 1883 | //CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 73:f80dc3970c99 | 1884 | CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500 |
Lightvalve | 54:647072f5307a | 1885 | } |
Lightvalve | 57:f4819de54e7a | 1886 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1887 | // ; |
Lightvalve | 57:f4819de54e7a | 1888 | // } |
Lightvalve | 56:6f50d9d3bfee | 1889 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1890 | //valve position |
Lightvalve | 73:f80dc3970c99 | 1891 | CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600 |
Lightvalve | 54:647072f5307a | 1892 | } |
Lightvalve | 20:806196fda269 | 1893 | |
Lightvalve | 54:647072f5307a | 1894 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1895 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1896 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1897 | // } |
Lightvalve | 54:647072f5307a | 1898 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1899 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1900 | //} |
Lightvalve | 52:8ea76864368a | 1901 | |
Lightvalve | 54:647072f5307a | 1902 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1903 | } |
Lightvalve | 54:647072f5307a | 1904 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1905 | |
Lightvalve | 20:806196fda269 | 1906 | } |
Lightvalve | 52:8ea76864368a | 1907 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1908 | |
Lightvalve | 58:2eade98630e2 | 1909 | } |