Buyoun Cho / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_210420

[Ver 1.0] The code was given by Seunghoon shin, used for hydraulic quadrupedal robot. Buyoun Cho will revise the code for Post-LIGHT (the robot name is not determined yet).

Dependencies:   mbed FastPWM

main.cpp@75:fd59821a2b84, 2020-06-09 (annotated)

Committer:
Lightvalve
Date:
Tue Jun 09 00:35:54 2020 +0000
Revision:
75:fd59821a2b84
Parent:
74:2bd13b02ed17
Child:
76:23fbf0a53e43
20200609_1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 75:fd59821a2b84 1 //200609-1
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 65:a2d7c63419c2 187
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 68:328e1be06f5d 189 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 191
Lightvalve 73:f80dc3970c99 192 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 193
Lightvalve 66:a8e6799dbce3 194 const float h1[num_input][32] = {
Lightvalve 75:fd59821a2b84 195 {-1.313185691833496f,1.3558399677276611f,0.11174947023391724f,-0.4366911053657532f,-1.7452845573425293f,-0.138204425573349f,-0.5774890184402466f,0.6507103443145752f,0.7431467771530151f,-0.053606923669576645f,-0.19580502808094025f,0.05607825890183449f,-0.20386390388011932f,0.13064734637737274f,-0.2227066308259964f,2.1693241596221924f,0.3243738114833832f,0.26314130425453186f,0.8003080487251282f,0.6794722676277161f,-0.35327082872390747f,0.11287471652030945f,-0.35108765959739685f,-0.08360615372657776f,0.9413185715675354f,0.19390198588371277f,-0.18648496270179749f,5.750491142272949f,0.0987941175699234f,-0.19833232462406158f,-2.916874408721924f,-0.011671649292111397f},
Lightvalve 75:fd59821a2b84 196 {-1.0280014276504517f,1.5302698612213135f,0.31515684723854065f,-0.6195348501205444f,-0.9894841909408569f,-0.23615193367004395f,-0.043309468775987625f,0.41509127616882324f,0.14958712458610535f,0.1642826944589615f,-0.3218314051628113f,-0.012262067757546902f,0.022385627031326294f,0.07637009769678116f,0.0484127402305603f,1.1011298894882202f,0.035907596349716187f,0.06643325090408325f,1.046273112297058f,0.6359272003173828f,-0.03268212080001831f,-0.12745296955108643f,-0.10032522678375244f,0.29246577620506287f,0.5771124958992004f,0.3099159896373749f,0.1338752806186676f,2.5955922603607178f,-0.22105993330478668f,0.10351350903511047f,-2.803912878036499f,0.04747290164232254f},
Lightvalve 75:fd59821a2b84 197 {-0.6415348052978516f,0.41371452808380127f,-0.0044558048248291016f,-0.4995523989200592f,-0.7235413193702698f,-0.12890669703483582f,-0.0654362142086029f,0.18923364579677582f,0.6460340619087219f,0.116197869181633f,0.2494136095046997f,0.12075557559728622f,-0.034644484519958496f,0.11565309017896652f,-0.33472365140914917f,-0.1300591230392456f,0.683254599571228f,-0.28053343296051025f,0.9361172914505005f,0.5589144825935364f,0.23385211825370789f,-0.16158531606197357f,0.14301708340644836f,-0.2602297365665436f,0.6274119019508362f,0.15341529250144958f,-0.1637192666530609f,0.6106250286102295f,-0.5559744834899902f,0.31950315833091736f,0.04965273663401604f,-0.22580347955226898f},
Lightvalve 75:fd59821a2b84 198 {-0.45159584283828735f,-1.16899573802948f,-0.2166784107685089f,-1.2771203517913818f,-0.21736255288124084f,0.23653309047222137f,0.0009526232606731355f,-0.3641812205314636f,1.2766860723495483f,0.07826011627912521f,0.048994891345500946f,0.33018746972084045f,-0.12461960315704346f,0.28528091311454773f,-0.13525955379009247f,-0.11344131827354431f,0.1405259668827057f,-0.25070422887802124f,0.179708331823349f,0.18176427483558655f,-0.26321321725845337f,-0.09280073642730713f,-0.15524277091026306f,-0.30760157108306885f,0.24493354558944702f,0.1494223177433014f,0.1411983072757721f,-2.1537203788757324f,-0.1353481411933899f,0.13963142037391663f,2.9061431884765625f,0.20509560406208038f},
Lightvalve 75:fd59821a2b84 199 {0.3991907238960266f,-0.8430772423744202f,0.0887511670589447f,-0.9184415936470032f,0.767889678478241f,0.053920164704322815f,0.043993569910526276f,-0.9090496301651001f,0.09724675863981247f,0.3183283507823944f,-0.3703279495239258f,0.16092625260353088f,0.2231200635433197f,0.18782642483711243f,-0.2646164298057556f,-1.1871178150177002f,-0.3531639277935028f,-0.19455955922603607f,-0.04284193366765976f,-0.4049484431743622f,0.14516910910606384f,0.24891802668571472f,-0.2589884400367737f,-0.07870301604270935f,-0.13590440154075623f,-0.3615073263645172f,0.04281669855117798f,-6.318483829498291f,-0.05344811826944351f,-0.17222367227077484f,3.211731195449829f,0.08748987317085266f},
Lightvalve 75:fd59821a2b84 200 {3.0852460861206055f,-1.7211849689483643f,0.3220093548297882f,2.7558774948120117f,2.3903656005859375f,-0.6154880523681641f,0.12499935925006866f,-1.302553415298462f,-2.9696953296661377f,0.03835542872548103f,0.14598320424556732f,-0.9738982319831848f,-0.033180445432662964f,0.036770038306713104f,0.2311277687549591f,-1.7552099227905273f,-1.594754934310913f,-0.3372360169887543f,-2.9891862869262695f,-1.6050679683685303f,0.14268693327903748f,-0.010211020708084106f,0.13283005356788635f,0.3492297828197479f,-2.6234822273254395f,0.2196546494960785f,-0.3087477684020996f,-3.679436445236206f,0.39592868089675903f,-0.0013858675956726074f,-0.8279285430908203f,0.0427020899951458f},
Lightvalve 75:fd59821a2b84 201 {-0.03139062225818634f,-0.20882318913936615f,0.17188844084739685f,0.0502387098968029f,0.2191704511642456f,-0.0032890886068344116f,-0.329066663980484f,-0.11273447424173355f,0.09082145243883133f,-0.16460631787776947f,-0.11442041397094727f,-0.7047885656356812f,0.10405707359313965f,-0.11326716840267181f,-0.19284740090370178f,-0.3852516710758209f,-0.29218071699142456f,-0.08617988228797913f,-0.11208781599998474f,-0.33255627751350403f,-0.17120671272277832f,-0.18692201375961304f,-0.27713942527770996f,-0.25876912474632263f,-0.14252881705760956f,-0.1639401763677597f,-0.11886438727378845f,0.7666018605232239f,-0.5915646553039551f,-0.03679269552230835f,-0.17446723580360413f,0.17222316563129425f},
Lightvalve 75:fd59821a2b84 202 {0.609512984752655f,-1.0908159017562866f,0.17564991116523743f,0.9768059253692627f,1.2844849824905396f,-0.8042295575141907f,-0.023371081799268723f,-0.18111170828342438f,0.6781216263771057f,0.06804360449314117f,-0.3824544847011566f,-1.265378475189209f,0.11404365301132202f,-0.08879432827234268f,0.05785831809043884f,3.5530989170074463f,-1.2395671606063843f,-0.3020205795764923f,-0.937833845615387f,-0.23862355947494507f,-0.07841125130653381f,0.023927748203277588f,-0.13482488691806793f,-0.030016034841537476f,-0.8130460381507874f,0.01873531937599182f,-0.3603379428386688f,-0.3542099595069885f,0.658749520778656f,0.004555642604827881f,-1.4037712812423706f,0.23905415832996368f},
Lightvalve 75:fd59821a2b84 203 {-0.03726935014128685f,-0.4920632839202881f,0.14468064904212952f,0.33033162355422974f,1.125876545906067f,-0.7315772771835327f,-0.1032051146030426f,-0.36932137608528137f,-0.10982415080070496f,0.06478609889745712f,-0.48509642481803894f,-0.4050152599811554f,0.1213512122631073f,0.2488364279270172f,0.2548488676548004f,2.0929408073425293f,-1.1059401035308838f,0.0635470449924469f,-0.26196542382240295f,-0.12248203903436661f,-0.31974175572395325f,-0.023564070463180542f,-0.3126928508281708f,0.08913204073905945f,-0.9443139433860779f,-0.08672919869422913f,-0.0939876139163971f,-0.43186336755752563f,0.9624592065811157f,-0.1258344054222107f,-0.24868057668209076f,0.03332221135497093f},
Lightvalve 75:fd59821a2b84 204 {-0.7481808662414551f,0.7887520790100098f,-0.257980614900589f,0.3826068341732025f,0.39144349098205566f,-0.9443352818489075f,0.18514207005500793f,-0.569044291973114f,-0.8600152134895325f,0.012863838113844395f,-0.5195816159248352f,0.03266865015029907f,0.0886462926864624f,0.08308958262205124f,-0.28265631198883057f,0.7393068671226501f,-0.1986353099346161f,0.3503457009792328f,0.1869194507598877f,-0.08732958137989044f,-0.21211731433868408f,0.17289242148399353f,-0.12325988709926605f,-0.3394215703010559f,-0.4491647779941559f,0.05944719910621643f,0.1433921754360199f,-0.7662747502326965f,0.6130043268203735f,0.3204980194568634f,-1.5331652164459229f,0.12180496007204056f},
Lightvalve 75:fd59821a2b84 205 {-0.3631282150745392f,0.46141374111175537f,-0.07026931643486023f,0.348862886428833f,-0.4507957398891449f,-0.6103403568267822f,0.0857677012681961f,-0.2589109241962433f,-0.49920454621315f,-0.2798130214214325f,-0.4967307150363922f,-0.28309133648872375f,-0.1888507455587387f,0.25039902329444885f,0.018085569143295288f,0.12930020689964294f,0.01749512180685997f,-0.2574009597301483f,0.4687546491622925f,-0.31705915927886963f,0.1791209876537323f,-0.267413854598999f,0.2530073821544647f,0.011960417032241821f,-0.20000596344470978f,0.10836628079414368f,0.0850057601928711f,-1.3708717823028564f,-0.2084496021270752f,0.03124985098838806f,-1.2592271566390991f,0.12175191193819046f},
Lightvalve 75:fd59821a2b84 206 {-0.21891410648822784f,-2.615487813949585f,-0.32509708404541016f,0.40488919615745544f,-2.7579102516174316f,-0.03849294036626816f,-0.25683555006980896f,0.03533625975251198f,-0.4014618694782257f,0.3036830425262451f,0.1542934626340866f,-0.48905691504478455f,-0.039651691913604736f,-0.19931454956531525f,-0.3158351480960846f,-1.6834031343460083f,1.108699083328247f,-0.1921754628419876f,-0.012858605943620205f,-0.90135258436203f,0.30605974793434143f,0.24016639590263367f,-0.2466658353805542f,0.34621962904930115f,-0.9961265921592712f,0.22247567772865295f,0.35698744654655457f,1.7305760383605957f,-1.0115445852279663f,0.1561911404132843f,1.4063512086868286f,-0.12972959876060486f},
Lightvalve 65:a2d7c63419c2 207 };
Lightvalve 65:a2d7c63419c2 208
Lightvalve 66:a8e6799dbce3 209 const float h2[32][32] = {
Lightvalve 75:fd59821a2b84 210 {-0.13653452694416046f,-0.10295046865940094f,-0.04925942420959473f,0.834488034248352f,-0.15490937232971191f,0.01157870888710022f,-0.0676836147904396f,0.06396704912185669f,-0.30411389470100403f,-0.10008957982063293f,1.289563775062561f,-0.27321967482566833f,-0.05048976093530655f,-6.564230918884277f,-1.6073166131973267f,0.1239813044667244f,0.07803884148597717f,-0.21483641862869263f,-0.24844110012054443f,-0.0007458719774149358f,-0.6708897948265076f,-0.9218689203262329f,-0.38173672556877136f,-2.809535026550293f,-1.1643638610839844f,-0.9540433287620544f,0.9115755558013916f,-0.5726043581962585f,0.23828622698783875f,0.11771553754806519f,-0.24613501131534576f,-0.20827965438365936f},
Lightvalve 75:fd59821a2b84 211 {-0.18315517902374268f,0.002147972583770752f,-0.04321768879890442f,1.0163323879241943f,0.039372533559799194f,-0.17639213800430298f,-0.5750257968902588f,-0.05986310541629791f,0.24677053093910217f,0.048597872257232666f,0.6358411908149719f,-0.8745309710502625f,0.15398390591144562f,-0.91277015209198f,-1.1373414993286133f,0.4294496178627014f,0.056778669357299805f,-0.2737269401550293f,-0.520031213760376f,0.20915214717388153f,0.2258913666009903f,-0.15333275496959686f,-0.2972809374332428f,0.6250895261764526f,-0.706321120262146f,-0.6798213124275208f,-0.3532438576221466f,-0.07545539736747742f,-0.28620439767837524f,-0.0511949360370636f,0.19307708740234375f,0.052018553018569946f},
Lightvalve 66:a8e6799dbce3 212 {-0.1579037755727768f,0.28447648882865906f,-0.1789936125278473f,0.20799604058265686f,0.025723248720169067f,0.17740526795387268f,-0.1666354387998581f,-0.06060470640659332f,-0.017253071069717407f,-0.2790656089782715f,-0.16800916194915771f,-0.2990717589855194f,0.07126197218894958f,-0.08032660186290741f,-0.1799015998840332f,-0.1891922950744629f,0.2556300461292267f,0.2080206573009491f,-0.24888339638710022f,0.27691522240638733f,-0.21319638192653656f,-0.14012537896633148f,-0.30466505885124207f,-0.013728171586990356f,-0.1629670113325119f,0.2530798614025116f,0.0633285641670227f,0.0011726915836334229f,-0.14820529520511627f,0.2823629677295685f,0.10884168744087219f,-0.2637729346752167f},
Lightvalve 75:fd59821a2b84 213 {-0.2280004471540451f,-0.01806354522705078f,-0.23058539628982544f,-0.004379375372081995f,-0.27190759778022766f,-0.48097386956214905f,-0.16904491186141968f,0.08759373426437378f,-0.06944303214550018f,0.09271347522735596f,0.6912479996681213f,-2.185035467147827f,-0.2989988625049591f,-2.294978141784668f,-0.2640474736690521f,-1.0274511575698853f,0.10996055603027344f,0.24023392796516418f,-0.05556086450815201f,-0.21147878468036652f,-0.12320282310247421f,-0.675693154335022f,-0.21217714250087738f,-0.0789194405078888f,-0.695843517780304f,-1.3501667976379395f,-0.15905816853046417f,-0.51463383436203f,-0.22396358847618103f,0.2546447217464447f,0.03394383192062378f,0.11402659863233566f},
Lightvalve 75:fd59821a2b84 214 {-0.263528972864151f,0.2506926953792572f,-0.0804666131734848f,1.2917649745941162f,0.02918580174446106f,-0.5095813274383545f,-0.2424311339855194f,0.0013494789600372314f,0.043158918619155884f,-0.2690317630767822f,-0.8380837440490723f,2.040532350540161f,-0.5003531575202942f,-6.114733695983887f,-1.1487606763839722f,-0.14227063953876495f,-0.10307048261165619f,0.15626338124275208f,-0.4561256766319275f,0.009356088005006313f,-0.5098544955253601f,-0.9514142274856567f,0.0509193018078804f,-0.09610782563686371f,-0.7787821888923645f,-1.1774613857269287f,0.6868534088134766f,0.30832719802856445f,0.2695164978504181f,-0.16498444974422455f,0.008398771286010742f,-0.1783324033021927f},
Lightvalve 75:fd59821a2b84 215 {-0.19158349931240082f,-0.004258692264556885f,0.032371193170547485f,-0.34854286909103394f,-0.023485273122787476f,-0.3941616117954254f,-0.09726130962371826f,-0.14440131187438965f,-0.03548547625541687f,0.08825305104255676f,-0.2876361012458801f,1.0263333320617676f,-0.35549554228782654f,-0.6815934181213379f,-0.587461531162262f,-0.04208013415336609f,0.2371552288532257f,0.24713221192359924f,0.0964612290263176f,0.16146616637706757f,0.1010562852025032f,0.16678297519683838f,-0.1307595670223236f,-0.18639467656612396f,-0.5824383497238159f,-0.00542303966358304f,0.4017123878002167f,-0.36399272084236145f,0.05800282955169678f,-0.26823562383651733f,0.17187702655792236f,0.1427464783191681f},
Lightvalve 75:fd59821a2b84 216 {-0.21433322131633759f,-0.1279313862323761f,-0.11171227693557739f,0.19313624501228333f,-0.26441383361816406f,0.2845393121242523f,-0.07698006182909012f,-0.20844537019729614f,-0.26620519161224365f,0.17144301533699036f,-0.36887234449386597f,0.08302517980337143f,0.29584869742393494f,0.11009510606527328f,-0.20718690752983093f,-0.024496594443917274f,-0.16153597831726074f,0.18742787837982178f,-0.139192596077919f,0.07302840799093246f,0.16935086250305176f,0.020542774349451065f,-0.07988794147968292f,-0.32990220189094543f,-0.9956828355789185f,-0.7803241610527039f,0.16467735171318054f,0.1288815587759018f,-0.11822041869163513f,0.19546762108802795f,-0.16657039523124695f,-0.0494866780936718f},
Lightvalve 75:fd59821a2b84 217 {0.29264822602272034f,0.11346611380577087f,0.04012581706047058f,-0.06849342584609985f,0.22828009724617004f,-0.18136094510555267f,-0.30926772952079773f,0.004197537899017334f,0.2864855229854584f,0.01006925106048584f,0.07567531615495682f,-0.19712111353874207f,-0.26371070742607117f,-1.8047027587890625f,0.23755255341529846f,-0.3447447419166565f,-0.2721019387245178f,0.2706601917743683f,-0.10313893854618073f,-0.14302746951580048f,0.10852442681789398f,-0.13124442100524902f,-0.07979777455329895f,0.08328970521688461f,-0.5694247484207153f,-0.8781575560569763f,0.44012337923049927f,-0.8073893189430237f,-0.14135785400867462f,0.07403197884559631f,0.16089555621147156f,0.05005462095141411f},
Lightvalve 75:fd59821a2b84 218 {0.21068620681762695f,0.2890130579471588f,-0.021617114543914795f,-1.4027236700057983f,0.29321715235710144f,-0.0723724290728569f,-0.8265629410743713f,-0.23997274041175842f,0.29470762610435486f,-0.06864601373672485f,-6.3836188316345215f,2.347367763519287f,0.06264518201351166f,-12.589964866638184f,-0.9714967608451843f,-0.8537660241127014f,0.046292245388031006f,0.06025278568267822f,-0.11017916351556778f,0.23208163678646088f,1.808781385421753f,-0.3894505798816681f,0.28743305802345276f,3.610884189605713f,-0.11228112131357193f,-1.1404540538787842f,3.1265974044799805f,0.7105438709259033f,0.2501918375492096f,-0.14010676741600037f,-0.24744901061058044f,-0.22836585342884064f},
Lightvalve 75:fd59821a2b84 219 {0.2615049183368683f,0.08643358945846558f,-0.29237738251686096f,-0.18440555036067963f,0.15896368026733398f,-0.0771239846944809f,0.24200700223445892f,-0.15540927648544312f,0.18755429983139038f,-0.07031691074371338f,-0.00216384744271636f,-0.04973956197500229f,0.12828806042671204f,0.06049550324678421f,-0.04099252447485924f,0.22229699790477753f,-0.015168905258178711f,-0.2859399914741516f,-0.2857927978038788f,-0.21467742323875427f,0.11080513149499893f,0.0958365723490715f,-0.2307620644569397f,0.1294090896844864f,0.013701796531677246f,-0.24844348430633545f,0.16279052197933197f,0.021454859524965286f,0.2113950550556183f,0.0796298086643219f,-0.0010054409503936768f,-0.31528568267822266f},
Lightvalve 75:fd59821a2b84 220 {0.19981321692466736f,0.1956864297389984f,-0.033508092164993286f,-0.28872549533843994f,-0.12505969405174255f,0.026693344116210938f,0.024095647037029266f,0.14285165071487427f,-0.17670965194702148f,0.17403557896614075f,-0.2098657637834549f,0.11958502978086472f,-0.1060299277305603f,-0.03532514348626137f,-0.1527295857667923f,0.10439812391996384f,0.03990337252616882f,0.0716913640499115f,0.14601309597492218f,-0.09600312262773514f,0.2702564299106598f,0.0946962907910347f,0.07470300793647766f,0.3244778513908386f,0.046841684728860855f,0.07153674960136414f,0.05430204048752785f,-0.23950853943824768f,0.13817378878593445f,0.17853263020515442f,-0.009185433387756348f,-0.0402938649058342f},
Lightvalve 75:fd59821a2b84 221 {-0.2546439468860626f,-0.09556084871292114f,0.12328919768333435f,-0.13635249435901642f,-0.258735328912735f,0.12404932826757431f,-0.3560395836830139f,-0.10312946140766144f,0.17735600471496582f,0.009893029928207397f,0.4736626446247101f,0.08681654185056686f,-0.2090792953968048f,-1.3671033382415771f,-0.10585308074951172f,0.5675845742225647f,0.009990394115447998f,0.10842388868331909f,0.031010372564196587f,0.17453236877918243f,0.35442259907722473f,-0.1767769306898117f,0.09996896982192993f,-0.33534884452819824f,-0.5882670283317566f,-0.8750264644622803f,-0.4958075284957886f,0.23900769650936127f,-0.288028746843338f,-0.2434448003768921f,0.17687886953353882f,0.2689606845378876f},
Lightvalve 66:a8e6799dbce3 222 {-0.08816954493522644f,0.2728963792324066f,-0.07170480489730835f,0.1482785940170288f,0.07727676630020142f,0.20119628310203552f,0.03849402070045471f,0.02873826026916504f,-0.15294449031352997f,-0.038666754961013794f,-0.1574239432811737f,0.27019134163856506f,0.1312139928340912f,-0.26498496532440186f,0.1620480716228485f,0.12264445424079895f,0.023397088050842285f,0.21900424361228943f,0.25839516520500183f,0.2068612277507782f,-0.29656288027763367f,0.045920878648757935f,-0.19714993238449097f,0.22523340582847595f,0.07844719290733337f,0.22350957989692688f,-0.04062908887863159f,-0.26378923654556274f,0.18573936820030212f,0.15478622913360596f,0.013760745525360107f,0.010002970695495605f},
Lightvalve 75:fd59821a2b84 223 {0.14700931310653687f,0.1833711564540863f,-0.0858893096446991f,0.13974496722221375f,-0.25116482377052307f,0.2733006179332733f,0.2342478185892105f,-0.16134384274482727f,0.000652611255645752f,-0.22920364141464233f,0.21283850073814392f,-0.19833101332187653f,0.26723334193229675f,0.1022464781999588f,-0.035817988216876984f,-0.21737264096736908f,-0.07963520288467407f,0.14483880996704102f,-0.3164346516132355f,-0.22369033098220825f,-0.02809320017695427f,0.20108197629451752f,-0.2228696048259735f,0.16118712723255157f,-0.08304260671138763f,-0.04629321023821831f,0.02902711182832718f,0.011145059950649738f,-0.011228948831558228f,0.26896968483924866f,-0.28556761145591736f,-0.1379857361316681f},
Lightvalve 66:a8e6799dbce3 224 {-0.23982827365398407f,0.03880670666694641f,-0.013682037591934204f,-0.11685100197792053f,-0.020662933588027954f,0.30190005898475647f,-0.14934301376342773f,-0.15993990004062653f,0.1152651309967041f,-0.11991468071937561f,-0.15497799217700958f,0.11116543412208557f,-0.2045515924692154f,0.2403949797153473f,-0.21275603771209717f,0.05732181668281555f,-0.2770107090473175f,0.088544100522995f,0.19012078642845154f,-0.07119561731815338f,-0.18914666771888733f,-0.10413256287574768f,-0.16050675511360168f,0.11598068475723267f,-0.03151249885559082f,-0.1937510371208191f,0.18474078178405762f,0.19502457976341248f,0.22045472264289856f,-0.29474368691444397f,0.09864541888237f,0.06054645776748657f},
Lightvalve 75:fd59821a2b84 225 {-0.1764076054096222f,0.1317739188671112f,0.03260180354118347f,0.49780744314193726f,-0.05160003900527954f,-0.35967910289764404f,-0.3474859893321991f,0.11372503638267517f,0.05445769429206848f,0.07657262682914734f,-0.5604847073554993f,-0.374675452709198f,0.04904850199818611f,0.8123621344566345f,-0.13049675524234772f,-0.313252329826355f,-0.25386664271354675f,-0.18997573852539062f,-0.4807437062263489f,-0.26534247398376465f,-0.1174754798412323f,-0.19221749901771545f,-0.3681998550891876f,1.1662442684173584f,-0.7020263671875f,-0.8365567326545715f,0.777972936630249f,-0.7988463640213013f,-0.0006675124168395996f,-0.2239055633544922f,-0.035532981157302856f,0.26087120175361633f},
Lightvalve 75:fd59821a2b84 226 {0.036086976528167725f,-0.062024205923080444f,0.10704237222671509f,-1.6534528732299805f,-0.04875987768173218f,0.003735621925443411f,-0.0661308765411377f,0.27597710490226746f,-0.23304778337478638f,-0.035415440797805786f,0.6984909772872925f,2.495051383972168f,0.01972251385450363f,2.2246577739715576f,1.7577496767044067f,0.6538106799125671f,-0.027234435081481934f,0.19620582461357117f,0.021183837205171585f,-0.2661140263080597f,0.3126361072063446f,-0.20037977397441864f,-0.19671492278575897f,-0.8472312092781067f,-0.37588751316070557f,-1.011125087738037f,1.886238694190979f,-0.6824478507041931f,-0.2531542181968689f,0.24004116654396057f,-0.21812304854393005f,-0.16870826482772827f},
Lightvalve 67:c2812cf26c38 227 {0.1379433274269104f,-0.16078773140907288f,0.11784148216247559f,0.2671110928058624f,0.2693568766117096f,0.19759181141853333f,0.08533552289009094f,0.17868870496749878f,0.040603965520858765f,-0.2119520902633667f,0.1136421263217926f,-0.24326792359352112f,-0.07898660004138947f,0.2795462906360626f,-0.22247430682182312f,-0.0708579272031784f,0.18204066157341003f,0.2297056019306183f,0.034212857484817505f,0.05284380912780762f,-0.15357805788516998f,-0.2940097451210022f,0.26029130816459656f,0.2647087275981903f,0.1594548225402832f,0.04613301157951355f,-0.22981436550617218f,0.10197556018829346f,-0.08671019971370697f,-0.019541800022125244f,0.30332449078559875f,0.15016543865203857f},
Lightvalve 75:fd59821a2b84 228 {0.001010068808682263f,0.2841971218585968f,-0.0814327746629715f,-0.5578263401985168f,-0.017610490322113037f,-0.12990882992744446f,-1.0371955633163452f,0.20642486214637756f,-0.2925014793872833f,0.022429823875427246f,1.2518060207366943f,1.6295077800750732f,-0.3630954325199127f,1.0180593729019165f,1.6497890949249268f,1.5412659645080566f,0.1296386420726776f,0.027322769165039062f,-0.07146900147199631f,-0.033047839999198914f,1.8326430320739746f,-0.2597673535346985f,-0.019287554547190666f,2.9501471519470215f,-0.7390130162239075f,-0.6729431748390198f,-3.0924034118652344f,0.196227565407753f,0.14345040917396545f,-0.11986468732357025f,-0.19420018792152405f,0.10907851904630661f},
Lightvalve 75:fd59821a2b84 229 {-0.14775772392749786f,0.29651907086372375f,0.02990397810935974f,1.3687357902526855f,0.1826970875263214f,-0.45684298872947693f,-0.21498923003673553f,0.26979032158851624f,-0.2325194776058197f,-0.2458522766828537f,0.27646124362945557f,-1.3012187480926514f,-0.3100453317165375f,-0.9790444374084473f,-0.07603815943002701f,0.5513585209846497f,0.2577105462551117f,0.11064860224723816f,-0.4122505187988281f,-0.02084328979253769f,0.4384767711162567f,-0.6164035201072693f,-0.07374785840511322f,0.9995476603507996f,-0.6461800336837769f,-1.2522889375686646f,-0.8109409213066101f,-0.06933913379907608f,-0.2205982804298401f,0.28094157576560974f,-0.1669490486383438f,0.08422029763460159f},
Lightvalve 74:2bd13b02ed17 230 {0.2703488767147064f,-0.16041381657123566f,0.12738299369812012f,-0.03611093759536743f,0.1169431209564209f,0.1861400008201599f,-0.1765512377023697f,0.28177282214164734f,0.1474648416042328f,-0.23766008019447327f,-0.005803406238555908f,0.08728843927383423f,0.09594401717185974f,-0.17028304934501648f,-0.16805587708950043f,-0.058941617608070374f,-0.22846683859825134f,0.08700510859489441f,-0.2656046748161316f,0.07154610753059387f,-0.1559111475944519f,0.22832396626472473f,-0.18301571905612946f,-0.17816279828548431f,-0.04200500249862671f,0.2835671007633209f,0.1830621361732483f,-0.26011598110198975f,0.08541131019592285f,0.08213254809379578f,-0.29332536458969116f,0.08477649092674255f},
Lightvalve 66:a8e6799dbce3 231 {-0.06283275783061981f,-0.26753589510917664f,-0.10381917655467987f,-0.13344663381576538f,0.2644997537136078f,0.2204643189907074f,0.2924788296222687f,-0.17931663990020752f,-0.09078609943389893f,-0.17306232452392578f,0.02247890830039978f,-0.26996222138404846f,0.22075030207633972f,-0.3029964864253998f,0.21873190999031067f,-0.0030784308910369873f,0.18228653073310852f,0.09971508383750916f,-0.242676243185997f,-0.1424383968114853f,0.19031599164009094f,0.3004438579082489f,-0.23650792241096497f,-0.2683113217353821f,0.29957786202430725f,0.08561205863952637f,-0.1366746425628662f,-0.15950153768062592f,-0.07675467431545258f,-0.2218506634235382f,-0.2795913517475128f,0.1869203746318817f},
Lightvalve 66:a8e6799dbce3 232 {0.2003176510334015f,-0.27792131900787354f,0.055196613073349f,-0.27959588170051575f,0.18430876731872559f,-0.05316638946533203f,0.16156336665153503f,-0.18850930035114288f,0.09482413530349731f,0.021483391523361206f,0.009039878845214844f,0.1586727499961853f,0.11457142233848572f,0.2876913249492645f,-0.24802550673484802f,0.14089101552963257f,-0.06842575967311859f,-0.10107968747615814f,0.06239110231399536f,-0.2528536915779114f,-0.27538973093032837f,0.15457189083099365f,-0.15549622476100922f,0.20245882868766785f,0.08544808626174927f,0.22650876641273499f,-0.05268847942352295f,0.20387354493141174f,0.24724552035331726f,0.21444126963615417f,0.05186706781387329f,-0.11084021627902985f},
Lightvalve 66:a8e6799dbce3 233 {-0.19810965657234192f,0.2745245397090912f,0.1767616868019104f,0.19752147793769836f,0.0650932788848877f,0.29138168692588806f,-0.29061684012413025f,0.010446667671203613f,0.025284886360168457f,-0.10202452540397644f,-0.10358673334121704f,0.14746251702308655f,0.15136101841926575f,0.04500553011894226f,-0.2497977316379547f,-0.29277902841567993f,0.02556520700454712f,-0.09509801864624023f,0.16731274127960205f,-0.25266408920288086f,-0.3004688322544098f,-0.19769597053527832f,-0.14847496151924133f,0.3053832948207855f,0.07563886046409607f,-0.10258816182613373f,-0.060128673911094666f,0.0016401112079620361f,-0.29647189378738403f,-0.18869297206401825f,0.05497395992279053f,0.16092956066131592f},
Lightvalve 75:fd59821a2b84 234 {-0.12830333411693573f,-0.25281068682670593f,-0.10565309226512909f,-0.11232469975948334f,0.2702934443950653f,-0.3410305082798004f,-0.1840752363204956f,-0.19997140765190125f,-0.06814777851104736f,-0.24531681835651398f,0.2831348776817322f,-2.1349923610687256f,-0.20297639071941376f,-9.416818618774414f,-0.38936346769332886f,1.9753633737564087f,0.2015441358089447f,0.04417389631271362f,-0.17022034525871277f,0.0940558910369873f,1.4883413314819336f,-0.7893790006637573f,-0.2520882785320282f,-0.07758519053459167f,-0.3527616560459137f,-0.7898638248443604f,-2.3154544830322266f,-0.431611567735672f,-0.18211489915847778f,-0.15127526223659515f,0.20075061917304993f,0.2768977880477905f},
Lightvalve 66:a8e6799dbce3 235 {-0.10580866038799286f,-0.17215237021446228f,-0.01352420449256897f,-0.13443149626255035f,-0.10265451669692993f,-0.2169143706560135f,0.30098411440849304f,-0.2986297905445099f,0.07908004522323608f,-0.30061498284339905f,0.10424068570137024f,-0.018799901008605957f,-0.18665757775306702f,0.005998075008392334f,-0.2969498336315155f,0.18525955080986023f,0.2379322350025177f,0.15184926986694336f,0.215760737657547f,-0.19088758528232574f,0.08620095252990723f,0.019999295473098755f,-0.0752219706773758f,0.11181813478469849f,0.1881926953792572f,0.2210972011089325f,0.13236162066459656f,-0.06690356135368347f,-0.18345263600349426f,-0.14861416816711426f,0.08577704429626465f,-0.09683996438980103f},
Lightvalve 66:a8e6799dbce3 236 {0.03951254487037659f,0.23604217171669006f,0.012746036052703857f,-0.12561996281147003f,-0.1283164620399475f,0.25823846459388733f,0.10610169172286987f,0.22718152403831482f,0.1749366819858551f,0.007794857025146484f,0.11289489269256592f,0.2725127637386322f,-0.13616766035556793f,-0.03546282649040222f,-0.1685536652803421f,-0.24492129683494568f,0.15760570764541626f,0.017505377531051636f,-0.273531436920166f,-0.005667984485626221f,0.18370777368545532f,-0.023328542709350586f,0.2379932701587677f,-0.048420339822769165f,0.10376441478729248f,-0.295401930809021f,-0.20498433709144592f,0.22346952557563782f,-0.26649031043052673f,-0.08466874063014984f,0.23347875475883484f,-0.03380200266838074f},
Lightvalve 75:fd59821a2b84 237 {0.18706411123275757f,-0.11652402579784393f,0.24921879172325134f,-0.8710082173347473f,-0.2817712128162384f,-0.3355129063129425f,-0.3706720173358917f,-0.11968852579593658f,0.23963233828544617f,0.21321198344230652f,0.9150746464729309f,1.57368803024292f,-0.29601404070854187f,-1.639478325843811f,-0.4205140769481659f,-0.31351256370544434f,-0.19791248440742493f,0.2487291395664215f,-0.47685062885284424f,-0.29756513237953186f,-0.8813170790672302f,-0.05123526230454445f,-0.09928475320339203f,-0.1293514221906662f,-0.5697177648544312f,-0.4729078710079193f,1.9341726303100586f,-0.06956271827220917f,-0.03476092219352722f,0.2736774981021881f,0.004408210515975952f,-0.05906525254249573f},
Lightvalve 75:fd59821a2b84 238 {-0.17075178027153015f,0.009595632553100586f,0.2466227114200592f,0.6093860268592834f,-0.29828932881355286f,-0.4245913028717041f,-0.3820510804653168f,-0.15331926941871643f,-0.2516406178474426f,0.012286126613616943f,0.01665949635207653f,-0.07809311151504517f,-0.14522677659988403f,-0.23547394573688507f,0.054714612662792206f,0.018199991434812546f,-0.24087269604206085f,-0.048499464988708496f,-0.45135974884033203f,0.011233522556722164f,-0.2114112228155136f,-0.2804611325263977f,-0.031352698802948f,0.3851718008518219f,-0.5163297653198242f,-0.9803943037986755f,-0.44577324390411377f,0.6158953905105591f,-0.07090267539024353f,-0.23986908793449402f,-0.2543276250362396f,-0.008757992647588253f},
Lightvalve 66:a8e6799dbce3 239 {-0.01348048448562622f,0.08233943581581116f,0.18838337063789368f,0.21852442622184753f,-0.04740855097770691f,0.19177213311195374f,-0.0060100555419921875f,0.20933791995048523f,0.06356173753738403f,0.063028484582901f,0.09440034627914429f,0.29559019207954407f,-0.2545689642429352f,-0.09652335941791534f,-0.2841038703918457f,-0.03553757071495056f,0.02329021692276001f,-0.08720272779464722f,-0.0750999003648758f,-0.10468094050884247f,-0.03761094808578491f,-0.030853450298309326f,0.2112145721912384f,0.2599640190601349f,-0.2969062626361847f,-0.13667742908000946f,0.24173608422279358f,0.09566575288772583f,0.021116197109222412f,-0.005982398986816406f,-0.26417285203933716f,0.1879688799381256f},
Lightvalve 75:fd59821a2b84 240 {-0.27658653259277344f,-0.17203155159950256f,0.0620841383934021f,-1.2488824129104614f,-0.07396678626537323f,-0.5224560499191284f,-0.1551366150379181f,0.17422041296958923f,-0.21029016375541687f,0.2210421860218048f,-0.786376416683197f,2.698190212249756f,-0.34417280554771423f,-0.709505021572113f,-0.701867938041687f,-0.4506611227989197f,0.10771593451499939f,-0.29308468103408813f,-0.4010354280471802f,-0.18515130877494812f,0.2305973619222641f,-0.5547289252281189f,-0.25851088762283325f,-1.3192037343978882f,-0.7135826945304871f,-0.15810687839984894f,1.6290950775146484f,0.037420306354761124f,0.17976179718971252f,-0.22928372025489807f,0.28763797879219055f,0.1059032678604126f},
Lightvalve 75:fd59821a2b84 241 {-0.09888127446174622f,-0.22750279307365417f,-0.22503364086151123f,0.021799856796860695f,-0.012498408555984497f,-0.24329537153244019f,-0.14348910748958588f,0.08175003528594971f,-0.016126900911331177f,0.06972584128379822f,0.045833978801965714f,0.15502917766571045f,-0.031845152378082275f,-0.332145631313324f,0.19170470535755157f,0.1727330982685089f,-0.09216172993183136f,0.04617339372634888f,-0.12741246819496155f,-0.13000579178333282f,0.012943689711391926f,-0.3153339922428131f,-0.06047184765338898f,-0.3093891143798828f,0.019693655893206596f,-0.258115291595459f,0.2310866117477417f,-0.3247198164463043f,-0.16326025128364563f,0.11664235591888428f,-0.02675291895866394f,0.11901631951332092f},
Lightvalve 65:a2d7c63419c2 242 };
Lightvalve 65:a2d7c63419c2 243
Lightvalve 66:a8e6799dbce3 244 const float h3[32][32] = {
Lightvalve 75:fd59821a2b84 245 {-0.2551194727420807f,-0.09101890027523041f,-0.026477575302124023f,-0.24469062685966492f,-0.10116000473499298f,-1.3142824172973633e-05f,0.23563924431800842f,0.21467849612236023f,-0.17011712491512299f,0.034586966037750244f,-0.08393588662147522f,0.28293344378471375f,0.045914679765701294f,0.18623818457126617f,-0.2476848065853119f,0.13452908396720886f,0.033751994371414185f,0.2061004936695099f,-0.022569477558135986f,-0.10083381831645966f,-0.11890523135662079f,0.024368882179260254f,-0.22281211614608765f,0.044178664684295654f,0.25393906235694885f,-0.1258748173713684f,0.2930828630924225f,-0.22120264172554016f,0.08456003665924072f,0.2922307550907135f,-0.21407078206539154f,-0.1853330433368683f},
Lightvalve 66:a8e6799dbce3 246 {0.05588451027870178f,0.19731858372688293f,-0.055143773555755615f,0.030042022466659546f,-0.13887283205986023f,-0.1361943781375885f,-0.2855546772480011f,0.011247634887695312f,0.1085631251335144f,0.021339505910873413f,0.17599248886108398f,0.09762296080589294f,-0.05771490931510925f,-0.14660483598709106f,-0.21469902992248535f,0.03876742720603943f,-0.21865856647491455f,-0.12651903927326202f,0.22753819823265076f,-0.23926785588264465f,-0.14443452656269073f,0.06739777326583862f,0.14157342910766602f,0.049514561891555786f,-0.1251431256532669f,-0.25851932168006897f,0.0932874083518982f,0.2900666892528534f,-0.023782014846801758f,0.050485759973526f,0.09447437524795532f,0.0058679282665252686f},
Lightvalve 66:a8e6799dbce3 247 {-0.2800689935684204f,-0.038760632276535034f,0.13974270224571228f,0.01585569977760315f,0.11945047974586487f,-0.19458696246147156f,0.11322265863418579f,0.25643888115882874f,-0.061097174882888794f,-0.07816044986248016f,-0.07445238530635834f,-0.22145158052444458f,-0.1081896424293518f,-0.09452249109745026f,0.16234496235847473f,0.1413259506225586f,-0.2648085951805115f,-0.054869145154953f,-0.05491623282432556f,0.17325228452682495f,0.23639705777168274f,0.0748760998249054f,-0.1324603259563446f,0.15828460454940796f,-0.22871175408363342f,-0.027338534593582153f,-0.06307074427604675f,0.13438841700553894f,0.13834497332572937f,0.1633671224117279f,0.259930282831192f,-0.21565306186676025f},
Lightvalve 75:fd59821a2b84 248 {0.2906629145145416f,0.0011796666076406837f,-0.3284459412097931f,-0.42126768827438354f,-2.041640520095825f,-0.3198484182357788f,-0.061309605836868286f,-0.17915479838848114f,1.8421404361724854f,0.2811860740184784f,1.579482078552246f,0.1205105111002922f,-5.343050003051758f,-3.531210422515869f,0.22106656432151794f,-0.23978039622306824f,-0.28915077447891235f,0.030949801206588745f,-1.440433382987976f,-0.4398042559623718f,0.5012592077255249f,0.6894128918647766f,-0.3840677738189697f,-0.27595841884613037f,0.4273875951766968f,-0.11024686694145203f,-0.30630218982696533f,0.24057814478874207f,-0.29079723358154297f,-0.25852420926094055f,-0.09564408659934998f,-1.388859748840332f},
Lightvalve 67:c2812cf26c38 249 {0.07563930749893188f,-0.0864691436290741f,-0.2677825689315796f,0.1497999131679535f,-0.2632053792476654f,-0.12118913233280182f,-0.09772239625453949f,0.2470131814479828f,-0.2551872134208679f,-0.2740214169025421f,0.2979947626590729f,-0.24627932906150818f,-0.23258495330810547f,-0.1546318233013153f,0.06802645325660706f,-0.048776447772979736f,0.20131775736808777f,0.013118326663970947f,0.0808630883693695f,0.2585393488407135f,-0.03326711058616638f,0.21529874205589294f,0.1718432903289795f,0.20571765303611755f,-0.19813477993011475f,0.12758469581604004f,0.2959180772304535f,-0.20305807888507843f,0.17249789834022522f,-0.09959287941455841f,-0.07189898192882538f,0.007399916648864746f},
Lightvalve 75:fd59821a2b84 250 {0.10931676626205444f,0.2396949827671051f,0.12925085425376892f,-0.01787710189819336f,-0.10811276733875275f,0.12106235325336456f,-0.061815500259399414f,0.04091137647628784f,0.02548360824584961f,-0.10320629924535751f,0.11663797497749329f,-0.21529507637023926f,0.02336065098643303f,-0.13809995353221893f,0.2971965968608856f,0.25175121426582336f,-0.2889891266822815f,-0.13035915791988373f,0.08469447493553162f,0.06524023413658142f,0.09726372361183167f,-0.23822520673274994f,-0.10766742378473282f,0.27409639954566956f,-0.10850872099399567f,-0.18302330374717712f,0.09057381749153137f,0.0367719866335392f,-0.27729424834251404f,-0.29547566175460815f,-0.25800079107284546f,0.25326886773109436f},
Lightvalve 75:fd59821a2b84 251 {-0.21155381202697754f,0.23439161479473114f,-0.05584689974784851f,-0.07220031321048737f,0.06456612050533295f,0.20856912434101105f,-0.07957221567630768f,0.2444917857646942f,0.19215825200080872f,0.19421495497226715f,-0.5236914753913879f,-0.22568298876285553f,-0.011191804893314838f,-0.07085471600294113f,0.25543639063835144f,-0.1192857176065445f,-0.18917083740234375f,0.011466026306152344f,0.13980814814567566f,0.09861917048692703f,0.04290959984064102f,-0.0670100599527359f,-0.2741957902908325f,-0.2255190908908844f,-0.21635381877422333f,-0.2910519242286682f,-0.3101460635662079f,-0.2519592344760895f,0.15469670295715332f,-0.09532724320888519f,0.298493355512619f,-0.11251561343669891f},
Lightvalve 75:fd59821a2b84 252 {-0.01093912124633789f,-0.23583689332008362f,0.28153905272483826f,0.2877257764339447f,0.08201509714126587f,-0.2699383497238159f,0.036741942167282104f,-0.0059101879596710205f,-0.24633634090423584f,-0.27182313799858093f,0.09319102764129639f,-0.08139897882938385f,0.19774547219276428f,-0.020215511322021484f,0.0685860812664032f,-0.29903873801231384f,0.1317853033542633f,0.20550194382667542f,-0.12251400947570801f,-0.28424710035324097f,0.24172750115394592f,0.11755815148353577f,0.0343703031539917f,0.12564969062805176f,0.03227102756500244f,0.23886635899543762f,-0.2778390347957611f,0.13853725790977478f,0.28547611832618713f,0.17161712050437927f,-0.017215043306350708f,-0.05991865694522858f},
Lightvalve 66:a8e6799dbce3 253 {-0.20420776307582855f,0.1970202624797821f,0.23591408133506775f,-0.282694011926651f,0.09019026160240173f,0.20012763142585754f,0.028453975915908813f,0.23323127627372742f,0.15246456861495972f,-0.1270071268081665f,0.20025727152824402f,0.13077861070632935f,-0.2238168716430664f,-0.20709244906902313f,-0.0045506954193115234f,-0.16448761522769928f,0.28163614869117737f,0.1971360743045807f,0.30405697226524353f,-0.28959211707115173f,-0.2255709171295166f,0.15360668301582336f,0.24163606762886047f,0.19554737210273743f,-0.1804599016904831f,0.07604315876960754f,-0.1459394246339798f,-0.14081311225891113f,-0.29656586050987244f,0.19529584050178528f,-0.05168652534484863f,-0.03415781259536743f},
Lightvalve 66:a8e6799dbce3 254 {0.27550336718559265f,-0.14170598983764648f,-0.21542268991470337f,-0.2159879207611084f,0.06500789523124695f,-0.21155211329460144f,-0.01575431227684021f,0.0617731511592865f,0.13126209378242493f,-0.04922589659690857f,-0.23877641558647156f,-0.06292802095413208f,0.01433342695236206f,0.14592674374580383f,-0.23886999487876892f,0.08878573775291443f,0.1853090226650238f,-0.05102238059043884f,-0.13667166233062744f,-0.24401302635669708f,0.25155118107795715f,-0.20339438319206238f,0.03535670042037964f,0.048473477363586426f,-0.13871997594833374f,-0.15382859110832214f,-0.13837768137454987f,0.26085415482521057f,0.2491457164287567f,0.157204270362854f,0.14108964800834656f,0.12518465518951416f},
Lightvalve 75:fd59821a2b84 255 {-0.023678362369537354f,0.08797620981931686f,-0.2871009409427643f,-0.1269129514694214f,2.328566312789917f,0.40447285771369934f,0.0393199622631073f,0.196751207113266f,-1.8087782859802246f,0.7520325183868408f,0.8472196459770203f,-0.15846265852451324f,-2.0430166721343994f,1.1243969202041626f,0.080221027135849f,-0.2471318244934082f,0.026521950960159302f,0.28880444169044495f,0.0771021842956543f,-0.47420787811279297f,-1.8180674314498901f,2.3254144191741943f,-1.1086549758911133f,0.2614522874355316f,-0.5653209090232849f,-0.25962090492248535f,-0.08758813142776489f,2.310356855392456f,0.01161124836653471f,-0.2912617325782776f,-0.4035002887248993f,-0.06948458403348923f},
Lightvalve 75:fd59821a2b84 256 {0.2680447995662689f,0.07797502726316452f,-0.4340595304965973f,-0.12291660159826279f,0.0004409539978951216f,-0.38190945982933044f,0.12004496902227402f,-0.17794576287269592f,0.793194591999054f,0.2098115235567093f,1.5856468677520752f,0.007934660650789738f,0.12772130966186523f,-0.2567565441131592f,0.23152390122413635f,-0.07731422781944275f,0.21101722121238708f,-0.15284278988838196f,-0.030561676248908043f,0.08157320320606232f,1.3478504419326782f,1.0397841930389404f,1.02566397190094f,0.12623250484466553f,0.04778704792261124f,0.18312275409698486f,-0.29112857580184937f,-0.05745025351643562f,0.08209920674562454f,-0.1739533692598343f,-0.2773703932762146f,-0.685867965221405f},
Lightvalve 75:fd59821a2b84 257 {0.10771462321281433f,0.1270637810230255f,-0.1647956818342209f,-0.00161704421043396f,0.2136848419904709f,0.06234608218073845f,-0.2502448558807373f,-0.05063694715499878f,-0.180652916431427f,-0.19398604333400726f,0.13652430474758148f,0.11519002914428711f,-0.05240143463015556f,-0.04267176613211632f,-0.0055807530879974365f,0.05870962142944336f,-0.0561012327671051f,-0.1419317126274109f,-0.1070684939622879f,-0.05947013199329376f,-0.11336321383714676f,-0.37477612495422363f,0.4347239136695862f,-0.2888573110103607f,-0.267441064119339f,-0.03866580128669739f,0.09892630577087402f,0.3000783622264862f,0.1267586350440979f,0.024399906396865845f,-0.264041006565094f,-0.09254183620214462f},
Lightvalve 75:fd59821a2b84 258 {0.07240793108940125f,0.04628532752394676f,0.22351858019828796f,0.21431490778923035f,-0.482962965965271f,2.1741089820861816f,0.23807910084724426f,-0.09019742906093597f,-0.8481388092041016f,2.669198751449585f,3.5179219245910645f,-0.17166882753372192f,-0.2414926141500473f,1.9221197366714478f,0.13272255659103394f,-0.0684008002281189f,-0.13351139426231384f,0.2471931278705597f,-0.12253887951374054f,0.2085338830947876f,-0.603877604007721f,1.741854190826416f,2.144829034805298f,0.28785380721092224f,2.129530191421509f,-0.1976800560951233f,-0.28207990527153015f,0.5296757221221924f,-0.15369433164596558f,-0.29330405592918396f,0.034326374530792236f,-3.1433401107788086f},
Lightvalve 75:fd59821a2b84 259 {-0.27890223264694214f,0.052268289029598236f,-0.047867514193058014f,0.053106214851140976f,-0.5081073641777039f,0.17706920206546783f,-0.2505151033401489f,-0.2674597501754761f,-2.7393105030059814f,0.08667297661304474f,2.944551706314087f,-0.12398261576890945f,1.5319266319274902f,0.030779218301177025f,-0.02410009503364563f,0.10129088163375854f,0.22686699032783508f,-0.30486053228378296f,0.1482698768377304f,-0.06692924350500107f,-1.0217609405517578f,-0.7189501523971558f,0.08052895963191986f,0.11354613304138184f,-0.35659629106521606f,-0.025903940200805664f,-0.25083351135253906f,0.4519230127334595f,0.4021279215812683f,0.06508117914199829f,0.02118399739265442f,-0.4141409397125244f},
Lightvalve 75:fd59821a2b84 260 {0.3047083914279938f,-0.06692621111869812f,-0.2905765175819397f,-0.4723705053329468f,0.16736078262329102f,-0.79637211561203f,-0.15405365824699402f,-0.25786101818084717f,0.44996777176856995f,-0.35668280720710754f,-0.16010496020317078f,-0.19573961198329926f,-0.18455533683300018f,-1.5229350328445435f,0.062144935131073f,-0.28920799493789673f,0.03473195433616638f,-0.0016761720180511475f,0.5057005286216736f,-0.6487535238265991f,-1.391068935394287f,-0.7689187526702881f,0.8458759784698486f,-0.10900285840034485f,-0.5996621251106262f,-0.031148135662078857f,-0.44016093015670776f,-2.1472561359405518f,-0.15321186184883118f,0.017086774110794067f,-0.15847967565059662f,-0.6804963946342468f},
Lightvalve 66:a8e6799dbce3 261 {-0.06136500835418701f,-0.11579577624797821f,-0.23311558365821838f,-0.020844489336013794f,0.161813884973526f,0.22929790616035461f,0.11958792805671692f,-0.0384809672832489f,-0.10647237300872803f,-0.09010881185531616f,0.22322741150856018f,-0.1071339100599289f,0.05349445343017578f,-0.23458370566368103f,0.040097206830978394f,0.08616101741790771f,-0.15468145906925201f,-0.21275553107261658f,-0.21210846304893494f,-0.23840199410915375f,0.12352427840232849f,0.282552570104599f,0.14114680886268616f,0.09007054567337036f,-0.05948364734649658f,0.12031787633895874f,-0.184563547372818f,0.07786750793457031f,-0.2169322669506073f,-0.24735762178897858f,-0.0892629474401474f,-0.11765947937965393f},
Lightvalve 67:c2812cf26c38 262 {0.1169951856136322f,0.06741076707839966f,0.014288008213043213f,-0.1894388198852539f,0.2306886613368988f,0.08970087766647339f,0.29362860321998596f,0.2666439712047577f,-0.1488228738307953f,0.22382596135139465f,-0.1313140094280243f,0.02602824568748474f,0.029441386461257935f,-0.1546926349401474f,0.10762849450111389f,0.06951633095741272f,0.0639207661151886f,0.27696695923805237f,-0.2749756872653961f,0.2684275209903717f,-0.240950807929039f,-0.08405844867229462f,0.26762983202934265f,0.09600964188575745f,-0.20394444465637207f,0.012219250202178955f,-0.09225042164325714f,-0.12637756764888763f,-0.21354423463344574f,-0.29393887519836426f,-0.056166648864746094f,0.002250969409942627f},
Lightvalve 75:fd59821a2b84 263 {-0.16101892292499542f,0.06696435809135437f,0.26537272334098816f,0.14798420667648315f,-0.06842678785324097f,-0.17128075659275055f,0.1589156985282898f,-0.17396175861358643f,0.2544223666191101f,-0.09403786808252335f,0.17186224460601807f,-0.04377517104148865f,-0.14932067692279816f,0.011214655824005604f,-0.2592318058013916f,0.1978430449962616f,0.18047624826431274f,0.2863751947879791f,-0.08743483573198318f,-0.020145824179053307f,-0.08702734112739563f,0.1601085066795349f,0.21821466088294983f,0.13123968243598938f,-0.0558658130466938f,-0.28873488306999207f,-0.08855697512626648f,0.23304645717144012f,0.14167316257953644f,0.18439257144927979f,0.17250561714172363f,0.30173739790916443f},
Lightvalve 75:fd59821a2b84 264 {0.261911004781723f,-0.31769564747810364f,-0.2993849217891693f,-0.020901747047901154f,0.0732688456773758f,0.05426959693431854f,-0.06670857965946198f,-0.030254334211349487f,-0.2773962616920471f,0.1197996437549591f,0.01667046546936035f,-0.2924177646636963f,0.19318778812885284f,-0.1301400512456894f,-0.20773646235466003f,-0.10781967639923096f,-0.15712574124336243f,0.16112294793128967f,0.23137132823467255f,0.18930953741073608f,0.19991524517536163f,0.1268383264541626f,-0.3001303970813751f,0.14906415343284607f,0.15230990946292877f,0.0025720298290252686f,-0.08662130683660507f,-0.21543759107589722f,0.07853570580482483f,0.21125611662864685f,-0.05751854181289673f,-0.22727590799331665f},
Lightvalve 75:fd59821a2b84 265 {0.14277681708335876f,-0.3716357946395874f,-0.11831590533256531f,-0.37174999713897705f,1.4216737747192383f,-0.5673569440841675f,0.10191433876752853f,-0.27022814750671387f,-1.9562586545944214f,-0.452837735414505f,1.9954625368118286f,-0.10322097688913345f,0.48624393343925476f,1.3605715036392212f,-0.03100520372390747f,-0.2484396994113922f,0.06366744637489319f,-0.2764144539833069f,-0.14515277743339539f,0.10553821176290512f,-0.20059677958488464f,1.1433237791061401f,0.6231899261474609f,-0.0716068297624588f,-0.39068469405174255f,-0.19159743189811707f,0.019965022802352905f,-0.9234741926193237f,-0.637962818145752f,-0.10488687455654144f,-0.21563708782196045f,-0.16996216773986816f},
Lightvalve 75:fd59821a2b84 266 {0.29069945216178894f,-0.23835359513759613f,0.019009560346603394f,-0.31017908453941345f,-0.2621127665042877f,0.2044413983821869f,0.045349299907684326f,-0.17138783633708954f,0.16033761203289032f,0.3885918855667114f,0.09080597758293152f,-0.15074089169502258f,-0.17332935333251953f,0.41083773970603943f,0.09875330328941345f,0.08164769411087036f,0.2294725477695465f,0.10683679580688477f,-0.4230635464191437f,-0.11497358977794647f,0.1957227736711502f,0.8371639251708984f,-0.04183199629187584f,-0.15362010896205902f,0.6437113881111145f,0.023651927709579468f,-0.1729920208454132f,0.05462941899895668f,0.12851183116436005f,0.19045329093933105f,0.02994692325592041f,-0.29800930619239807f},
Lightvalve 75:fd59821a2b84 267 {0.1991647183895111f,0.12534403800964355f,-0.04112154245376587f,0.23123982548713684f,-0.17588619887828827f,-0.23859387636184692f,-0.1610087752342224f,-0.031804412603378296f,0.10274738073348999f,-0.17494402825832367f,0.22262001037597656f,-0.057292819023132324f,0.1464652419090271f,0.11948269605636597f,0.2151305377483368f,0.2952744662761688f,-0.21319252252578735f,0.04970458149909973f,0.10210192203521729f,0.3050673305988312f,0.21167120337486267f,-0.10099594295024872f,0.13887640833854675f,0.25299301743507385f,-0.06018960475921631f,-0.07015113532543182f,-0.287551611661911f,-0.025779157876968384f,-0.07337476313114166f,-0.24420931935310364f,0.015819430351257324f,-0.07748918980360031f},
Lightvalve 75:fd59821a2b84 268 {0.12202468514442444f,-0.07779057323932648f,-0.24629002809524536f,-0.32566729187965393f,-1.740978717803955f,0.8758586645126343f,-0.06113804876804352f,-0.11568751931190491f,-0.8516654968261719f,-1.5848010778427124f,-7.323417663574219f,-0.23689016699790955f,-0.9717143774032593f,0.09606634825468063f,-0.06735922396183014f,0.05864924192428589f,-0.25733181834220886f,-0.17565661668777466f,-0.3076743483543396f,-0.19169509410858154f,-13.162639617919922f,0.834630012512207f,0.9407454133033752f,-0.05681343376636505f,0.1684274822473526f,0.1795230209827423f,-0.08288317918777466f,-0.05590128153562546f,-0.16114233434200287f,0.2425754964351654f,-0.22172409296035767f,-1.7836977243423462f},
Lightvalve 75:fd59821a2b84 269 {-0.3055141270160675f,-0.2612495720386505f,-0.062216371297836304f,-0.15180936455726624f,-0.25488585233688354f,-0.08808144181966782f,0.09419310092926025f,0.21086838841438293f,0.13909883797168732f,-0.09611540287733078f,0.08947992324829102f,-0.036056820303201675f,0.06368797272443771f,0.37871652841567993f,-0.023131370544433594f,0.036719828844070435f,0.16260939836502075f,0.05286213755607605f,-0.43367430567741394f,-0.11085523664951324f,0.10838434845209122f,-0.15486791729927063f,-0.20283125340938568f,0.19191309809684753f,0.08327501267194748f,-0.02825927734375f,-0.23410660028457642f,0.01904413104057312f,-0.07540153712034225f,0.1865309774875641f,0.2522423565387726f,-0.37721818685531616f},
Lightvalve 75:fd59821a2b84 270 {0.1782623827457428f,0.10682078450918198f,-0.41197142004966736f,-0.07911429554224014f,0.1805134266614914f,-0.014717919752001762f,-0.2435605823993683f,0.1475539207458496f,0.1903688907623291f,0.13256268203258514f,-0.027318783104419708f,-0.24679936468601227f,-0.2854386568069458f,0.18686966598033905f,-0.2527656555175781f,-0.3049176335334778f,0.032145023345947266f,-0.25376296043395996f,-0.38044285774230957f,-0.19812412559986115f,-0.20415671169757843f,0.3631074130535126f,0.27019017934799194f,0.05391114950180054f,-0.3148764371871948f,0.10029953718185425f,0.06320364773273468f,0.4630293846130371f,-0.4155415892601013f,0.1616479754447937f,-0.1823643445968628f,-0.20084841549396515f},
Lightvalve 75:fd59821a2b84 271 {-0.17396044731140137f,-0.28921031951904297f,-0.28752484917640686f,-0.10045907646417618f,0.10372793674468994f,0.3817340135574341f,-0.14075329899787903f,-0.1761629432439804f,-1.031593680381775f,-1.1875016689300537f,-0.44267579913139343f,-0.14911454916000366f,-2.290588855743408f,-1.8594526052474976f,-0.19851773977279663f,-0.10762731730937958f,0.14198419451713562f,0.10370296239852905f,-0.5650427937507629f,-0.30807116627693176f,-3.4756698608398438f,0.6098830103874207f,0.5892422199249268f,-0.19857197999954224f,0.6980613470077515f,-0.2665709853172302f,0.014847352169454098f,-1.5965887308120728f,-0.3655775487422943f,-0.1200934648513794f,-0.04139012098312378f,-0.5369430184364319f},
Lightvalve 75:fd59821a2b84 272 {-0.12546227872371674f,-0.11750900745391846f,-0.23636242747306824f,0.004841658286750317f,-0.6315189003944397f,-0.062289346009492874f,-0.28310835361480713f,-0.020981580018997192f,-0.17436684668064117f,0.06093672290444374f,0.6257375478744507f,-0.22123131155967712f,0.4095354378223419f,0.06482041627168655f,-0.0649729073047638f,0.2468220293521881f,0.060016900300979614f,-0.16779978573322296f,-0.19680415093898773f,0.040797170251607895f,1.0008506774902344f,0.277142196893692f,-0.2521553337574005f,0.22389158606529236f,0.2958110272884369f,0.020356476306915283f,-0.27942416071891785f,0.2945798635482788f,0.08210375159978867f,-0.000007510185241699219f,0.094448983669281f,-0.4532257318496704f},
Lightvalve 66:a8e6799dbce3 273 {0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,-0.11083845794200897f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,-0.2766430675983429f,0.013024389743804932f,0.18159812688827515f,-0.20200279355049133f,0.2637675702571869f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,-0.2661813795566559f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,-0.07343396544456482f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f},
Lightvalve 72:3436ce769b1e 274 {0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.2043982446193695f,0.13894453644752502f,0.06556430459022522f,0.29767414927482605f,0.24966773390769958f,-0.16670267283916473f,-0.1203770637512207f,-0.06570860743522644f,-0.015925198793411255f,0.17675906419754028f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.2353842556476593f,0.23596063256263733f,0.1602974534034729f,-0.04174882173538208f,-0.11559568345546722f,-0.06235519051551819f,0.21069613099098206f,-0.19532959163188934f,-0.2486409693956375f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f},
Lightvalve 67:c2812cf26c38 275 {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.11936154961585999f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f},
Lightvalve 75:fd59821a2b84 276 {0.07638216018676758f,0.04612322896718979f,-0.30373215675354004f,-0.2751947343349457f,0.134153813123703f,0.010966933332383633f,0.2795381247997284f,-0.25668495893478394f,-0.07679220288991928f,0.1293344497680664f,-0.026776641607284546f,0.02524423599243164f,0.11449384689331055f,0.2529979646205902f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.12633515894412994f,0.24063809216022491f,0.13952356576919556f,-0.0043319715186953545f,-0.06994132697582245f,-0.17324526607990265f,0.21346911787986755f,0.1901901364326477f,-0.26770874857902527f,-0.05840890482068062f,-0.11826688796281815f,0.22636333107948303f,-0.2677184045314789f,0.21909776329994202f},
Lightvalve 66:a8e6799dbce3 277 };
Lightvalve 65:a2d7c63419c2 278
Lightvalve 75:fd59821a2b84 279 const float hout[32] = { 0.3285340666770935f,0.24471119046211243f,-0.15469689667224884f,-0.02115148864686489f,-0.18921276926994324f,0.15414418280124664f,-0.029149213805794716f,0.1081397533416748f,-0.11788058280944824f,0.18063466250896454f,-0.404053658246994f,0.022158514708280563f,0.04093974828720093f,0.14568769931793213f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.21499931812286377f,0.04926346614956856f,-0.18677940964698792f,0.07142583280801773f,0.11499594151973724f,-0.22212912142276764f,-0.175692617893219f,0.20258161425590515f,0.2520971894264221f,-0.3175334930419922f,0.19466282427310944f,0.08209554105997086f,-0.3257754445075989f,-0.31893864274024963f,-0.037450455129146576f };
Lightvalve 66:a8e6799dbce3 280
Lightvalve 75:fd59821a2b84 281 const float b1[32] = { 0.4202998876571655f,1.094918131828308f,-1.7145336866378784f,-0.17063993215560913f,1.0830309391021729f,1.1982712745666504f,-0.1522631198167801f,0.6816328167915344f,0.6362338066101074f,-0.8989253044128418f,0.5141571164131165f,1.3029500246047974f,-0.3425353467464447f,-0.9415229558944702f,-1.087764859199524f,-1.8590199947357178f,0.5888760089874268f,-0.26377663016319275f,0.5120896697044373f,0.6348367929458618f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,2.461388349533081f,-2.0880801677703857f,-1.0489267110824585f,0.6330750584602356f,-0.46192118525505066f,-1.0887231826782227f,2.1536664962768555f,-0.47325626015663147f };
Lightvalve 65:a2d7c63419c2 282
Lightvalve 75:fd59821a2b84 283 const float b2[32] = { -0.22824740409851074f,-0.7642630338668823f,-1.4564176797866821f,0.09827680140733719f,-0.6939148902893066f,0.049203772097826004f,-0.02126282826066017f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.957858145236969f,-0.6606660485267639f,-0.2031645029783249f,2.0826189517974854f,-0.2622629404067993f,0.8372436761856079f,-1.798204779624939f,-1.5844906568527222f,-0.03141642361879349f,-0.3296515941619873f,0.13303455710411072f,0.11028163135051727f,-0.06032365933060646f,-0.10295621305704117f,0.21086792647838593f,0.39109453558921814f,-0.047606464475393295f,-0.31456735730171204f,-0.6323830485343933f,-0.4208582937717438f,-1.178520679473877f,-1.358128309249878f };
Lightvalve 65:a2d7c63419c2 284
Lightvalve 75:fd59821a2b84 285 const float b3[32] = { -1.963319182395935f,-0.5308853983879089f,-0.03035331703722477f,-0.10847673565149307f,-1.9975547790527344f,1.324741244316101f,-0.5021422505378723f,-0.6562485098838806f,-0.2854798436164856f,1.1526424884796143f,-4.029669761657715f,-0.1188148632645607f,-0.8120167851448059f,1.0550483465194702f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0192245244979858f,-0.9435397982597351f,0.08169078826904297f,-0.33376625180244446f,-2.0993151664733887f,-0.960339367389679f,-0.8066051602363586f,1.3543744087219238f,-0.36519983410835266f,-0.3522884249687195f,-1.2309868335723877f,-0.0852605551481247f,-2.3236680030822754f,-0.10093268752098083f,0.3999447524547577f };
Lightvalve 66:a8e6799dbce3 286
Lightvalve 75:fd59821a2b84 287 const float bout[1] = { -0.16701290011405945f };
Lightvalve 61:bc8c8270f0ab 288
Lightvalve 61:bc8c8270f0ab 289
GiJeongKim 0:51c43836c1d7 290 int main()
GiJeongKim 0:51c43836c1d7 291 {
Lightvalve 66:a8e6799dbce3 292
Lightvalve 65:a2d7c63419c2 293 HAL_Init();
Lightvalve 65:a2d7c63419c2 294 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 295
jobuuu 6:df07d3491e3a 296 /*********************************
jobuuu 1:e04e563be5ce 297 *** Initialization
jobuuu 6:df07d3491e3a 298 *********************************/
Lightvalve 69:3995ffeaa786 299 LED = 0;
Lightvalve 61:bc8c8270f0ab 300 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 301
GiJeongKim 0:51c43836c1d7 302 // i2c init
Lightvalve 8:5d2eebdad025 303 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 304 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 305 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 306 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 307 make_delay();
jobuuu 2:a1c0a37df760 308
GiJeongKim 0:51c43836c1d7 309 // // spi init
Lightvalve 16:903b5a4433b4 310 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 311 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 312 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 313 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 314 make_delay();
Lightvalve 21:e5f1a43ea6f9 315
Lightvalve 16:903b5a4433b4 316 //rom
Lightvalve 19:23b7c1ad8683 317 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 318 make_delay();
Lightvalve 13:747daba9cf59 319
GiJeongKim 0:51c43836c1d7 320 // ADC init
jobuuu 5:a4319f79457b 321 Init_ADC();
Lightvalve 11:82d8768d7351 322 make_delay();
jobuuu 2:a1c0a37df760 323
GiJeongKim 0:51c43836c1d7 324 // Pwm init
GiJeongKim 0:51c43836c1d7 325 Init_PWM();
GiJeongKim 0:51c43836c1d7 326 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 327 make_delay();
Lightvalve 13:747daba9cf59 328
Lightvalve 11:82d8768d7351 329 // TMR3 init
Lightvalve 11:82d8768d7351 330 Init_TMR3();
Lightvalve 11:82d8768d7351 331 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 332 make_delay();
Lightvalve 21:e5f1a43ea6f9 333
Lightvalve 50:3c630b5eba9f 334 // TMR2 init
Lightvalve 56:6f50d9d3bfee 335 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 336 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 337 // make_delay();
Lightvalve 21:e5f1a43ea6f9 338
GiJeongKim 0:51c43836c1d7 339 // CAN
jobuuu 2:a1c0a37df760 340 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 341 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 342 make_delay();
Lightvalve 34:bb2ca2fc2a8e 343
Lightvalve 23:59218d4a256d 344 //Timer priority
Lightvalve 23:59218d4a256d 345 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 346 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 347 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 348
Lightvalve 23:59218d4a256d 349 //can.reset();
Lightvalve 19:23b7c1ad8683 350 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 351
GiJeongKim 0:51c43836c1d7 352 // spi _ enc
GiJeongKim 0:51c43836c1d7 353 spi_enc_set_init();
Lightvalve 11:82d8768d7351 354 make_delay();
Lightvalve 13:747daba9cf59 355
Lightvalve 11:82d8768d7351 356 //DAC init
Lightvalve 58:2eade98630e2 357 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 358 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 359 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 360 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 361 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 362 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 363 }
Lightvalve 11:82d8768d7351 364 make_delay();
Lightvalve 13:747daba9cf59 365
Lightvalve 19:23b7c1ad8683 366 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 367 if(i%2==0)
Lightvalve 38:118df027d851 368 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 369 else
Lightvalve 38:118df027d851 370 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 371 }
Lightvalve 61:bc8c8270f0ab 372
Lightvalve 61:bc8c8270f0ab 373
jobuuu 6:df07d3491e3a 374 /************************************
jobuuu 1:e04e563be5ce 375 *** Program is operating!
jobuuu 6:df07d3491e3a 376 *************************************/
GiJeongKim 0:51c43836c1d7 377 while(1) {
Lightvalve 66:a8e6799dbce3 378 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 379 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 380 //i2c
Lightvalve 66:a8e6799dbce3 381
Lightvalve 65:a2d7c63419c2 382 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 383 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 384 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 385 // LED=0;
Lightvalve 65:a2d7c63419c2 386 // } else
Lightvalve 65:a2d7c63419c2 387 // LED = 1;
Lightvalve 65:a2d7c63419c2 388 timer_while = 0;
Lightvalve 66:a8e6799dbce3 389 //}
Lightvalve 66:a8e6799dbce3 390
Lightvalve 66:a8e6799dbce3 391 timer_while ++;
Lightvalve 66:a8e6799dbce3 392
Lightvalve 73:f80dc3970c99 393 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 394 LED = 0;
Lightvalve 73:f80dc3970c99 395 }
Lightvalve 66:a8e6799dbce3 396
Lightvalve 73:f80dc3970c99 397 else if(NN_Control_Flag == 1) {
Lightvalve 66:a8e6799dbce3 398 float output1[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 399 float output2[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 400 float output3[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 401 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 402
Lightvalve 66:a8e6799dbce3 403 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 68:328e1be06f5d 404 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 405 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 406 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 407 }
Lightvalve 66:a8e6799dbce3 408 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 409 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 410 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 411 }
Lightvalve 66:a8e6799dbce3 412 }
Lightvalve 65:a2d7c63419c2 413
Lightvalve 66:a8e6799dbce3 414 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 415 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 416 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 417 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 418 }
Lightvalve 66:a8e6799dbce3 419 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 420 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 421 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 422 }
Lightvalve 66:a8e6799dbce3 423 }
Lightvalve 65:a2d7c63419c2 424
Lightvalve 66:a8e6799dbce3 425 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 426 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 427 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 428 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 429 }
Lightvalve 66:a8e6799dbce3 430 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 431 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 432 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 433 }
Lightvalve 65:a2d7c63419c2 434 }
Lightvalve 66:a8e6799dbce3 435
Lightvalve 66:a8e6799dbce3 436 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 66:a8e6799dbce3 437 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 73:f80dc3970c99 438 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 439 }
Lightvalve 66:a8e6799dbce3 440 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 441
Lightvalve 66:a8e6799dbce3 442 }
Lightvalve 73:f80dc3970c99 443 output = 1.0f/(1.0f+exp(-output));
Lightvalve 68:328e1be06f5d 444 output = output * 20000.0f - 10000.0f;
Lightvalve 66:a8e6799dbce3 445 if(output>=0) {
Lightvalve 66:a8e6799dbce3 446 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 447 } else {
Lightvalve 66:a8e6799dbce3 448 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 449 }
Lightvalve 69:3995ffeaa786 450
Lightvalve 69:3995ffeaa786 451 if(LED==1) {
Lightvalve 69:3995ffeaa786 452 LED=0;
Lightvalve 69:3995ffeaa786 453 } else
Lightvalve 69:3995ffeaa786 454 LED = 1;
Lightvalve 69:3995ffeaa786 455
Lightvalve 65:a2d7c63419c2 456 }
Lightvalve 62:b5452adfb2cd 457
Lightvalve 69:3995ffeaa786 458
Lightvalve 66:a8e6799dbce3 459
GiJeongKim 0:51c43836c1d7 460 }
jobuuu 1:e04e563be5ce 461 }
jobuuu 1:e04e563be5ce 462
Lightvalve 33:91b17819ec30 463 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 464 {
Lightvalve 14:8e7590227d22 465
Lightvalve 13:747daba9cf59 466 int i = 0;
Lightvalve 48:889798ff9329 467 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 468 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 469 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 470 if(i==0) {
Lightvalve 50:3c630b5eba9f 471 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 472 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 473 } else {
Lightvalve 57:f4819de54e7a 474 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 475 }
Lightvalve 14:8e7590227d22 476 } else {
Lightvalve 50:3c630b5eba9f 477 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 478 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 479 } else {
Lightvalve 57:f4819de54e7a 480 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 481 }
Lightvalve 13:747daba9cf59 482 }
Lightvalve 13:747daba9cf59 483 break;
Lightvalve 13:747daba9cf59 484 }
Lightvalve 13:747daba9cf59 485 }
Lightvalve 14:8e7590227d22 486 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 487 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 488 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 489 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 490 }
Lightvalve 36:a46e63505ed8 491
Lightvalve 57:f4819de54e7a 492 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 493 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 494
Lightvalve 13:747daba9cf59 495 }
jobuuu 6:df07d3491e3a 496
jobuuu 6:df07d3491e3a 497
Lightvalve 30:8d561f16383b 498 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 499 {
Lightvalve 13:747daba9cf59 500 int i = 0;
Lightvalve 13:747daba9cf59 501
Lightvalve 38:118df027d851 502 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 503 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 504 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 505 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 506 }
Lightvalve 38:118df027d851 507
Lightvalve 13:747daba9cf59 508 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 509 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 510 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 511 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 512 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 513 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 514
Lightvalve 13:747daba9cf59 515 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 516
Lightvalve 18:b8adf1582ea3 517 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 518 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 519 if(i==0) {
Lightvalve 48:889798ff9329 520 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 521 } else {
Lightvalve 48:889798ff9329 522 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 523 }
Lightvalve 13:747daba9cf59 524 break;
Lightvalve 13:747daba9cf59 525 }
Lightvalve 13:747daba9cf59 526 }
Lightvalve 59:f308b1656d9c 527 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 528 }
Lightvalve 13:747daba9cf59 529
Lightvalve 14:8e7590227d22 530 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 531 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 532 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 533 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 534 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 535 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 536 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 537 }; // duty
Lightvalve 67:c2812cf26c38 538 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 539 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 540 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 541 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 542 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 543 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 544 }; // mV
Lightvalve 13:747daba9cf59 545
Lightvalve 30:8d561f16383b 546 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 547 {
Lightvalve 30:8d561f16383b 548 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 549 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 550 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 551 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 552 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 553 } else {
Lightvalve 13:747daba9cf59 554 int idx = 0;
Lightvalve 13:747daba9cf59 555 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 556 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 557 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 558 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 559 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 560 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 561 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 562 break;
Lightvalve 13:747daba9cf59 563 }
Lightvalve 13:747daba9cf59 564 }
Lightvalve 13:747daba9cf59 565 }
Lightvalve 14:8e7590227d22 566
Lightvalve 13:747daba9cf59 567 return PWM_duty;
Lightvalve 13:747daba9cf59 568 }
jobuuu 6:df07d3491e3a 569
Lightvalve 57:f4819de54e7a 570
Lightvalve 57:f4819de54e7a 571
Lightvalve 57:f4819de54e7a 572
Lightvalve 57:f4819de54e7a 573
jobuuu 2:a1c0a37df760 574 /*******************************************************************************
jobuuu 2:a1c0a37df760 575 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 576 *******************************************************************************/
jobuuu 2:a1c0a37df760 577
Lightvalve 51:b46bed7fec80 578 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 579 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 580 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 581 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 582 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 583 {
Lightvalve 19:23b7c1ad8683 584 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 585
Lightvalve 21:e5f1a43ea6f9 586 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 587 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 588 ********************************************************/
Lightvalve 13:747daba9cf59 589
Lightvalve 57:f4819de54e7a 590 //Encoder
Lightvalve 57:f4819de54e7a 591 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 592 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 593 }
Lightvalve 61:bc8c8270f0ab 594
Lightvalve 61:bc8c8270f0ab 595 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 596 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 597 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 598 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 599 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 600 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 601 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 602
Lightvalve 67:c2812cf26c38 603
Lightvalve 67:c2812cf26c38 604 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 605 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 606 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 607 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 608 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 609
Lightvalve 17:1865016ca2e7 610
Lightvalve 58:2eade98630e2 611 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 612 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 613 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 614 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 615 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 616 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 617 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 618 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 619 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 620
Lightvalve 58:2eade98630e2 621 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 622 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 623 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 624 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 625 }
Lightvalve 58:2eade98630e2 626 }
Lightvalve 61:bc8c8270f0ab 627
Lightvalve 58:2eade98630e2 628 // //Pressure sensor A
Lightvalve 58:2eade98630e2 629 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 630 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 631 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 632 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 633 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 634 // 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 635 //
Lightvalve 58:2eade98630e2 636 //
Lightvalve 58:2eade98630e2 637 // //Pressure sensor B
Lightvalve 58:2eade98630e2 638 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 639 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 640 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 641 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 642
Lightvalve 17:1865016ca2e7 643
Lightvalve 21:e5f1a43ea6f9 644 //Current
Lightvalve 21:e5f1a43ea6f9 645 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 646 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 647 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 648 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 649 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 650 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 651 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 652
Lightvalve 57:f4819de54e7a 653 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 654 }
Lightvalve 11:82d8768d7351 655 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 656 }
Lightvalve 19:23b7c1ad8683 657
Lightvalve 19:23b7c1ad8683 658
Lightvalve 18:b8adf1582ea3 659 int j =0;
Lightvalve 54:647072f5307a 660 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 661 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 662 int cnt_trans = 0;
Lightvalve 48:889798ff9329 663 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 664 int can_rest =0;
Lightvalve 48:889798ff9329 665
Lightvalve 11:82d8768d7351 666 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 667 {
Lightvalve 19:23b7c1ad8683 668 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 669
Lightvalve 57:f4819de54e7a 670 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 671 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 672 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 673 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 674 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 675 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 676 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 677 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 678 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 679 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 680 }
Lightvalve 50:3c630b5eba9f 681
Lightvalve 50:3c630b5eba9f 682 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 683 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 684 cnt_trans++;
Lightvalve 46:2694daea349b 685 torq.err_sum = 0;
Lightvalve 48:889798ff9329 686 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 687 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 688 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 689 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 690 cnt_trans++;
Lightvalve 46:2694daea349b 691 torq.err_sum = 0;
Lightvalve 48:889798ff9329 692 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 693 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 694 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 695 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 696 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 697 } else {
Lightvalve 58:2eade98630e2 698 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 699 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 700 }
Lightvalve 45:35fa6884d0c6 701
Lightvalve 50:3c630b5eba9f 702
Lightvalve 57:f4819de54e7a 703 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 704 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 705
Lightvalve 57:f4819de54e7a 706 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 707 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 708 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 709 } else {
Lightvalve 57:f4819de54e7a 710 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 711 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 712 }
Lightvalve 56:6f50d9d3bfee 713
Lightvalve 56:6f50d9d3bfee 714
Lightvalve 56:6f50d9d3bfee 715
Lightvalve 57:f4819de54e7a 716 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 717
Lightvalve 57:f4819de54e7a 718 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 719 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 720 break;
Lightvalve 13:747daba9cf59 721 }
Lightvalve 14:8e7590227d22 722
Lightvalve 14:8e7590227d22 723 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 724 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 725 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 726 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 727
Lightvalve 14:8e7590227d22 728 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 729 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 730 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 731
Lightvalve 59:f308b1656d9c 732 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 733
Lightvalve 30:8d561f16383b 734 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 735 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 736
Lightvalve 16:903b5a4433b4 737 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 738 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 739 }
Lightvalve 13:747daba9cf59 740 } else {
Lightvalve 58:2eade98630e2 741 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 742 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 743 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 744 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 745
Lightvalve 16:903b5a4433b4 746 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 747
Lightvalve 30:8d561f16383b 748 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 749
Lightvalve 13:747daba9cf59 750 }
Lightvalve 14:8e7590227d22 751 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 752 break;
Lightvalve 19:23b7c1ad8683 753 }
Lightvalve 14:8e7590227d22 754
Lightvalve 50:3c630b5eba9f 755 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 756 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 757 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 758 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 759 // }
Lightvalve 50:3c630b5eba9f 760 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 761 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 762 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 763 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 764 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 765 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 766 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 767 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 768 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 769 // }
Lightvalve 50:3c630b5eba9f 770 //
Lightvalve 50:3c630b5eba9f 771 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 772 // 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 773 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 774 //
Lightvalve 50:3c630b5eba9f 775 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 776 // V_out = 0;
Lightvalve 50:3c630b5eba9f 777 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 778 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 779 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 780 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 781 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 782 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 783 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 784 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 785 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 786 //
Lightvalve 50:3c630b5eba9f 787 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 788 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 789 // // | / | / |/
Lightvalve 50:3c630b5eba9f 790 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 791 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 792 // // /| / | / |
Lightvalve 50:3c630b5eba9f 793 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 794 //
Lightvalve 50:3c630b5eba9f 795 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 796 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 797 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 798 // } else {
Lightvalve 50:3c630b5eba9f 799 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 800 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 801 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 802 // }
Lightvalve 50:3c630b5eba9f 803 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 804 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 805 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 806 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 807 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 808 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 809 // }
Lightvalve 50:3c630b5eba9f 810 // } else {
Lightvalve 50:3c630b5eba9f 811 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 812 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 813 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 814 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 815 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 816 // }
Lightvalve 50:3c630b5eba9f 817 // V_out = 0;
Lightvalve 50:3c630b5eba9f 818 //
Lightvalve 50:3c630b5eba9f 819 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 820 //
Lightvalve 50:3c630b5eba9f 821 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 822 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 823 //
Lightvalve 50:3c630b5eba9f 824 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 825 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 826 // }
Lightvalve 50:3c630b5eba9f 827 // }
Lightvalve 50:3c630b5eba9f 828 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 829 // break;
Lightvalve 50:3c630b5eba9f 830 // }
Lightvalve 14:8e7590227d22 831
Lightvalve 14:8e7590227d22 832 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 833 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 834 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 835 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 836 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 837 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 838 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 839 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 840 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 841 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 842 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 843 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 844 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 845 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 846 }
Lightvalve 29:69f3f5445d6d 847 cnt_findhome++;
Lightvalve 14:8e7590227d22 848
Lightvalve 29:69f3f5445d6d 849 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 850 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 851 } else {
Lightvalve 29:69f3f5445d6d 852 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 853 }
Lightvalve 19:23b7c1ad8683 854
Lightvalve 57:f4819de54e7a 855 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 856 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 857 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 858 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 859
Lightvalve 59:f308b1656d9c 860 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 861 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 862 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 863 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 864 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 865
Lightvalve 59:f308b1656d9c 866 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 867 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 868
Lightvalve 34:bb2ca2fc2a8e 869
Lightvalve 29:69f3f5445d6d 870 } else {
Lightvalve 29:69f3f5445d6d 871 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 872 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 873 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 874 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 875 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 876 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 877 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 878 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 879 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 880 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 881 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 882
Lightvalve 67:c2812cf26c38 883
Lightvalve 67:c2812cf26c38 884 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 885 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 886 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 887 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 888 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 889 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 890 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 891
Lightvalve 67:c2812cf26c38 892
Lightvalve 29:69f3f5445d6d 893 }
Lightvalve 29:69f3f5445d6d 894 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 895 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 896 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 897 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 898 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 899
Lightvalve 29:69f3f5445d6d 900 // input for position control
Lightvalve 67:c2812cf26c38 901
Lightvalve 67:c2812cf26c38 902 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 903 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 904
Lightvalve 67:c2812cf26c38 905 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 906 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 907 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 908 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 909
Lightvalve 67:c2812cf26c38 910 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 911
Lightvalve 67:c2812cf26c38 912 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 913 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 914 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 915
Lightvalve 67:c2812cf26c38 916 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 917 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 918 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 919
Lightvalve 69:3995ffeaa786 920 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 921 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 922 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 923 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 924 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 925 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 926 }
Lightvalve 67:c2812cf26c38 927 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 928 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 929
Lightvalve 67:c2812cf26c38 930 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 931
Lightvalve 67:c2812cf26c38 932
Lightvalve 67:c2812cf26c38 933
Lightvalve 67:c2812cf26c38 934 } else {
Lightvalve 67:c2812cf26c38 935 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 936 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 937
Lightvalve 67:c2812cf26c38 938 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 939 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 940 } else {
Lightvalve 67:c2812cf26c38 941 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 942 }
Lightvalve 67:c2812cf26c38 943
Lightvalve 67:c2812cf26c38 944 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 945
Lightvalve 67:c2812cf26c38 946 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 947
Lightvalve 67:c2812cf26c38 948 }
Lightvalve 67:c2812cf26c38 949
Lightvalve 67:c2812cf26c38 950
Lightvalve 67:c2812cf26c38 951
Lightvalve 67:c2812cf26c38 952
Lightvalve 59:f308b1656d9c 953 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 954 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 955 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 956 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 957 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 958
Lightvalve 29:69f3f5445d6d 959 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 960 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 961 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 962 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 963 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 964 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 965 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 966 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 967 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 968 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 969 }
Lightvalve 13:747daba9cf59 970 }
Lightvalve 19:23b7c1ad8683 971
Lightvalve 13:747daba9cf59 972 break;
Lightvalve 13:747daba9cf59 973 }
Lightvalve 14:8e7590227d22 974
Lightvalve 50:3c630b5eba9f 975 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 976 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 977 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 978 // else {
Lightvalve 50:3c630b5eba9f 979 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 980 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 981 // }
Lightvalve 50:3c630b5eba9f 982 // }
Lightvalve 50:3c630b5eba9f 983 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 984 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 985 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 986 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 987 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 988 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 989 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 990 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 991 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 992 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 993 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 994 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 995 // }
Lightvalve 50:3c630b5eba9f 996 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 997 // }
Lightvalve 50:3c630b5eba9f 998 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 999 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1000 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1001 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1002 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1003 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1004 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1005 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1006 // 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 1007 // // 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 1008 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1009 // }
Lightvalve 50:3c630b5eba9f 1010 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1011 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1012 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1013 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1014 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1015 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1016 // 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 1017 // // 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 1018 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1019 // }
Lightvalve 50:3c630b5eba9f 1020 // }
Lightvalve 50:3c630b5eba9f 1021 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1022 //
Lightvalve 50:3c630b5eba9f 1023 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1024 //
Lightvalve 50:3c630b5eba9f 1025 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1026 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1027 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1028 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1029 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1030 // }
Lightvalve 50:3c630b5eba9f 1031 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1032 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1033 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1034 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1035 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1036 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1037 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1038 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1039 // }
Lightvalve 50:3c630b5eba9f 1040 //
Lightvalve 50:3c630b5eba9f 1041 // }
Lightvalve 50:3c630b5eba9f 1042 // break;
Lightvalve 50:3c630b5eba9f 1043 // }
Lightvalve 50:3c630b5eba9f 1044 //
Lightvalve 50:3c630b5eba9f 1045 // }
Lightvalve 14:8e7590227d22 1046 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1047 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1048 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1049 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1050 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1051
Lightvalve 14:8e7590227d22 1052 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1053 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1054 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1055 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1056 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1057
Lightvalve 38:118df027d851 1058 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1059 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1060 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1061
Lightvalve 30:8d561f16383b 1062 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1063 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1064 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1065 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1066
Lightvalve 30:8d561f16383b 1067 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1068 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1069 }
Lightvalve 13:747daba9cf59 1070 } else {
Lightvalve 57:f4819de54e7a 1071 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1072 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1073 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1074 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1075 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1076 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1077
Lightvalve 16:903b5a4433b4 1078 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1079
Lightvalve 30:8d561f16383b 1080 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1081 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1082 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1083 }
Lightvalve 14:8e7590227d22 1084 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1085 break;
Lightvalve 13:747daba9cf59 1086 }
Lightvalve 14:8e7590227d22 1087
Lightvalve 50:3c630b5eba9f 1088 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1089 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1090 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1091 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1092 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1093 // }
Lightvalve 50:3c630b5eba9f 1094 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1095 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1096 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1097 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1098 // }
Lightvalve 50:3c630b5eba9f 1099 // } else {
Lightvalve 50:3c630b5eba9f 1100 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1101 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1102 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1103 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1104 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1105 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1106 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1107 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1108 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1109 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1110 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1111 //
Lightvalve 50:3c630b5eba9f 1112 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1113 //
Lightvalve 50:3c630b5eba9f 1114 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1115 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1116 // }
Lightvalve 50:3c630b5eba9f 1117 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1118 // break;
Lightvalve 50:3c630b5eba9f 1119 // }
Lightvalve 19:23b7c1ad8683 1120
Lightvalve 50:3c630b5eba9f 1121 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1122 // 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 1123 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1124 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1125 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1126 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1127 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1128 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1129 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1130 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1131 // }
Lightvalve 50:3c630b5eba9f 1132 // break;
Lightvalve 50:3c630b5eba9f 1133 // }
Lightvalve 14:8e7590227d22 1134
Lightvalve 14:8e7590227d22 1135 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1136 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1137 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1138
Lightvalve 14:8e7590227d22 1139 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1140 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1141 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1142 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1143 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1144 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1145 data_num = 0;
Lightvalve 14:8e7590227d22 1146 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1147 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1148 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1149 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1150 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1151 } else {
Lightvalve 13:747daba9cf59 1152 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1153 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1154 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1155 }
Lightvalve 14:8e7590227d22 1156
Lightvalve 17:1865016ca2e7 1157 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1158 int i;
Lightvalve 13:747daba9cf59 1159 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1160 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1161 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1162 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1163 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1164 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1165 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1166 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1167 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1168 }
Lightvalve 13:747daba9cf59 1169 }
Lightvalve 59:f308b1656d9c 1170 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1171 ID_index = 0;
Lightvalve 57:f4819de54e7a 1172 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1173 }
Lightvalve 14:8e7590227d22 1174
Lightvalve 14:8e7590227d22 1175
Lightvalve 13:747daba9cf59 1176 break;
Lightvalve 13:747daba9cf59 1177 }
Lightvalve 14:8e7590227d22 1178
Lightvalve 14:8e7590227d22 1179 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1180 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1181 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1182 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1183 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1184 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1185 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1186 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1187 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1188 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1189 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1190 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1191 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1192 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1193 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1194 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 1195 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1196 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 1197 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1198 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1199 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1200 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 1201 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1202 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1203 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1204 data_num = 0;
Lightvalve 14:8e7590227d22 1205
Lightvalve 30:8d561f16383b 1206 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1207 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1208 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1209
Lightvalve 30:8d561f16383b 1210 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1211 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1212 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1213
Lightvalve 30:8d561f16383b 1214 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1215 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1216 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1217 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1218
Lightvalve 60:64181f1d3e60 1219 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1220 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1221 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1222 DZ_case = -1;
Lightvalve 14:8e7590227d22 1223 } else {
Lightvalve 13:747daba9cf59 1224 DZ_case = 0;
Lightvalve 13:747daba9cf59 1225 }
Lightvalve 61:bc8c8270f0ab 1226
Lightvalve 60:64181f1d3e60 1227 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1228
Lightvalve 13:747daba9cf59 1229 first_check = 1;
Lightvalve 13:747daba9cf59 1230 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1231 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1232 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1233 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1234 DZ_index = 1;
Lightvalve 14:8e7590227d22 1235
Lightvalve 13:747daba9cf59 1236 }
Lightvalve 19:23b7c1ad8683 1237 } else {
Lightvalve 14:8e7590227d22 1238 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1239 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1240 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 1241 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1242 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1243 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1244 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1245 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1246 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1247 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1248 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1249 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1250 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1251 }
Lightvalve 14:8e7590227d22 1252 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1253
Lightvalve 30:8d561f16383b 1254 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1255 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1256 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1257
Lightvalve 14:8e7590227d22 1258 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1259 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1260 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1261 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1262 } else {
Lightvalve 13:747daba9cf59 1263 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1264 }
Lightvalve 14:8e7590227d22 1265
Lightvalve 13:747daba9cf59 1266 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1267 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1268 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1269 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1270 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1271 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1272 DZ_index = 1;
Lightvalve 13:747daba9cf59 1273 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1274 }
Lightvalve 13:747daba9cf59 1275 }
Lightvalve 14:8e7590227d22 1276 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1277 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1278 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 1279 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1280 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1281 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1282 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1283 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1284 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1285 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1286 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1287 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1288 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1289 }
Lightvalve 14:8e7590227d22 1290 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1291
Lightvalve 30:8d561f16383b 1292 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1293 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1294 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1295 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1296 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1297
Lightvalve 14:8e7590227d22 1298 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1299 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1300 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1301 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1302 } else {
Lightvalve 60:64181f1d3e60 1303 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1304 }
Lightvalve 14:8e7590227d22 1305
Lightvalve 13:747daba9cf59 1306 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1307 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1308 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1309 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1310 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1311 first_check = 0;
Lightvalve 33:91b17819ec30 1312 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1313 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1314
Lightvalve 16:903b5a4433b4 1315 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1316
Lightvalve 60:64181f1d3e60 1317 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1318 DZ_index = 1;
Lightvalve 13:747daba9cf59 1319 }
Lightvalve 13:747daba9cf59 1320 }
Lightvalve 14:8e7590227d22 1321 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1322 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1323 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 1324 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1325 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1326 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1327 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1328 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1329 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1330 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1331 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1332 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1333 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1334 }
Lightvalve 14:8e7590227d22 1335 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1336
Lightvalve 30:8d561f16383b 1337 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1338 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1339 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1340
Lightvalve 14:8e7590227d22 1341 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1342 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1343 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1344 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1345 } else {
Lightvalve 13:747daba9cf59 1346 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1347 }
Lightvalve 13:747daba9cf59 1348 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1349 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1350 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1351 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1352 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1353 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1354 DZ_index = 1;
Lightvalve 13:747daba9cf59 1355 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1356 }
Lightvalve 13:747daba9cf59 1357 }
Lightvalve 14:8e7590227d22 1358 } else {
Lightvalve 30:8d561f16383b 1359 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1360 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 1361 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1362 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1363 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1364 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1365 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1366 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1367 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1368 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1369 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1370 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1371 }
Lightvalve 14:8e7590227d22 1372 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1373
Lightvalve 30:8d561f16383b 1374 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1375 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1376 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1377 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1378 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1379
Lightvalve 60:64181f1d3e60 1380 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1381 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1382 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1383 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1384 } else {
Lightvalve 13:747daba9cf59 1385 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1386 }
Lightvalve 14:8e7590227d22 1387
Lightvalve 13:747daba9cf59 1388 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1389 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1390 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1391 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1392 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1393 first_check = 0;
Lightvalve 33:91b17819ec30 1394 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1395 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1396
Lightvalve 59:f308b1656d9c 1397 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1398
Lightvalve 57:f4819de54e7a 1399 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1400 DZ_index = 1;
Lightvalve 13:747daba9cf59 1401 }
Lightvalve 13:747daba9cf59 1402 }
Lightvalve 13:747daba9cf59 1403 }
Lightvalve 14:8e7590227d22 1404 }
Lightvalve 13:747daba9cf59 1405 break;
Lightvalve 13:747daba9cf59 1406 }
Lightvalve 14:8e7590227d22 1407
Lightvalve 14:8e7590227d22 1408 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1409 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1410 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1411 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1412 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1413 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1414 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1415 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1416 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1417 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1418 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1419 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1420 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1421 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1422 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1423 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1424 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1425 first_check = 1;
Lightvalve 13:747daba9cf59 1426 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1427 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1428 ID_index = 0;
Lightvalve 13:747daba9cf59 1429 max_check = 0;
Lightvalve 13:747daba9cf59 1430 min_check = 0;
Lightvalve 13:747daba9cf59 1431 }
Lightvalve 14:8e7590227d22 1432 } else {
Lightvalve 30:8d561f16383b 1433 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1434 //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 1435 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1436 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1437 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1438 data_num = 0;
Lightvalve 57:f4819de54e7a 1439 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1440
Lightvalve 14:8e7590227d22 1441 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1442 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1443 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1444 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1445 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1446 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1447 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1448 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1449 one_period_end = 1;
Lightvalve 13:747daba9cf59 1450 }
Lightvalve 30:8d561f16383b 1451 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1452 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1453 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1454 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1455 }
Lightvalve 14:8e7590227d22 1456
Lightvalve 14:8e7590227d22 1457 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1458 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1459 max_check = 1;
Lightvalve 14:8e7590227d22 1460 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1461 min_check = 1;
Lightvalve 13:747daba9cf59 1462 }
Lightvalve 13:747daba9cf59 1463 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1464
Lightvalve 13:747daba9cf59 1465 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1466 one_period_end = 0;
Lightvalve 13:747daba9cf59 1467 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1468 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1469 }
Lightvalve 14:8e7590227d22 1470
Lightvalve 14:8e7590227d22 1471 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1472
Lightvalve 13:747daba9cf59 1473 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1474 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1475 ID_index = 0;
Lightvalve 13:747daba9cf59 1476 first_check = 0;
Lightvalve 13:747daba9cf59 1477 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1478 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1479 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1480 }
Lightvalve 13:747daba9cf59 1481 }
Lightvalve 13:747daba9cf59 1482 break;
Lightvalve 13:747daba9cf59 1483 }
Lightvalve 58:2eade98630e2 1484
Lightvalve 57:f4819de54e7a 1485 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1486 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1487 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1488 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1489 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1490 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1491 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1492 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1493 }
Lightvalve 57:f4819de54e7a 1494 break;
Lightvalve 57:f4819de54e7a 1495 }
Lightvalve 58:2eade98630e2 1496
Lightvalve 58:2eade98630e2 1497
Lightvalve 57:f4819de54e7a 1498
Lightvalve 57:f4819de54e7a 1499 default:
Lightvalve 57:f4819de54e7a 1500 break;
Lightvalve 57:f4819de54e7a 1501 }
Lightvalve 57:f4819de54e7a 1502
Lightvalve 57:f4819de54e7a 1503 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1504
Lightvalve 57:f4819de54e7a 1505 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1506 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1507 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1508 break;
Lightvalve 57:f4819de54e7a 1509 }
Lightvalve 57:f4819de54e7a 1510
Lightvalve 57:f4819de54e7a 1511 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1512 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1513 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1514 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1515 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1516 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1517 } else {
Lightvalve 67:c2812cf26c38 1518 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1519 }
Lightvalve 58:2eade98630e2 1520
Lightvalve 57:f4819de54e7a 1521 break;
Lightvalve 57:f4819de54e7a 1522 }
Lightvalve 57:f4819de54e7a 1523
Lightvalve 57:f4819de54e7a 1524 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1525 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1526 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1527 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1528 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1529
Lightvalve 67:c2812cf26c38 1530 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1531 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1532 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1533 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1534
Lightvalve 67:c2812cf26c38 1535 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1536
Lightvalve 57:f4819de54e7a 1537 // torque feedback
Lightvalve 67:c2812cf26c38 1538 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1539 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1540
Lightvalve 57:f4819de54e7a 1541 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1542
Lightvalve 57:f4819de54e7a 1543 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1544 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1545 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1546
Lightvalve 57:f4819de54e7a 1547 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1548 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1549 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1550
Lightvalve 69:3995ffeaa786 1551 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1552 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 1553 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1554 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1555 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 1556 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1557 }
Lightvalve 57:f4819de54e7a 1558 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 1559 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1560
Lightvalve 57:f4819de54e7a 1561 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1562 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1563 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1564 // 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 1565 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1566 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1567 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1568 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 1569 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1570 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1571 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1572 }
Lightvalve 57:f4819de54e7a 1573 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 1574 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1575 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1576 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1577 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1578
Lightvalve 57:f4819de54e7a 1579 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1580
Lightvalve 67:c2812cf26c38 1581 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1582 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1583 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1584 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1585 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1586 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1587 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1588 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1589 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1590 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1591 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1592 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1593 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1594 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1595 }
Lightvalve 67:c2812cf26c38 1596 }
Lightvalve 57:f4819de54e7a 1597
Lightvalve 57:f4819de54e7a 1598 } else {
Lightvalve 57:f4819de54e7a 1599 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1600 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1601 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1602
Lightvalve 57:f4819de54e7a 1603 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 1604 + 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 1605
Lightvalve 72:3436ce769b1e 1606 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 1607
Lightvalve 72:3436ce769b1e 1608 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1609
Lightvalve 72:3436ce769b1e 1610
Lightvalve 72:3436ce769b1e 1611 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1612 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1613 } else {
Lightvalve 72:3436ce769b1e 1614 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1615 }
Lightvalve 57:f4819de54e7a 1616
Lightvalve 57:f4819de54e7a 1617 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1618 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1619 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1620 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1621 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1622 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1623 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1624 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1625 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1626 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1627 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1628 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1629 }
Lightvalve 57:f4819de54e7a 1630 }
Lightvalve 61:bc8c8270f0ab 1631
Lightvalve 57:f4819de54e7a 1632 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1633
Lightvalve 67:c2812cf26c38 1634 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1635 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1636
Lightvalve 57:f4819de54e7a 1637 }
Lightvalve 72:3436ce769b1e 1638
Lightvalve 72:3436ce769b1e 1639 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1640
Lightvalve 57:f4819de54e7a 1641 break;
Lightvalve 57:f4819de54e7a 1642 }
Lightvalve 58:2eade98630e2 1643
Lightvalve 57:f4819de54e7a 1644 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1645 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1646 break;
Lightvalve 57:f4819de54e7a 1647 }
Lightvalve 14:8e7590227d22 1648
Lightvalve 12:6f2531038ea4 1649 default:
Lightvalve 12:6f2531038ea4 1650 break;
Lightvalve 12:6f2531038ea4 1651 }
Lightvalve 14:8e7590227d22 1652
Lightvalve 57:f4819de54e7a 1653
Lightvalve 57:f4819de54e7a 1654 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1655
Lightvalve 57:f4819de54e7a 1656 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1657 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1658 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1659 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1660 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1661 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1662
Lightvalve 57:f4819de54e7a 1663 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1664 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1665
Lightvalve 57:f4819de54e7a 1666
Lightvalve 57:f4819de54e7a 1667 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1668 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1669 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1670 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1671 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1672 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1673
Lightvalve 57:f4819de54e7a 1674 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1675 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1676 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1677 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1678 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1679 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1680 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1681 }
Lightvalve 57:f4819de54e7a 1682
Lightvalve 57:f4819de54e7a 1683 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1684
Lightvalve 67:c2812cf26c38 1685 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1686 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1687 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1688 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1689 // 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 1690 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1691 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1692
Lightvalve 57:f4819de54e7a 1693 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1694 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1695 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1696 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1697 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1698 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1699 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1700 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1701 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1702 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1703 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1704 }
Lightvalve 57:f4819de54e7a 1705 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1706 } else {
Lightvalve 57:f4819de54e7a 1707 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1708 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1709 }
Lightvalve 57:f4819de54e7a 1710
Lightvalve 57:f4819de54e7a 1711 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1712 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1713 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1714 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1715 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1716 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1717 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1718
Lightvalve 57:f4819de54e7a 1719 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1720
Lightvalve 57:f4819de54e7a 1721 } else {
Lightvalve 57:f4819de54e7a 1722 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1723 }
Lightvalve 57:f4819de54e7a 1724
Lightvalve 57:f4819de54e7a 1725 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1726 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1727 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1728
Lightvalve 57:f4819de54e7a 1729 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1730 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1731 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1732 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1733 }
Lightvalve 67:c2812cf26c38 1734
Lightvalve 67:c2812cf26c38 1735 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1736 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1737 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1738
jobuuu 7:e9086c72bb22 1739 /*******************************************************
jobuuu 7:e9086c72bb22 1740 *** PWM
jobuuu 7:e9086c72bb22 1741 ********************************************************/
Lightvalve 67:c2812cf26c38 1742 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1743 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1744 }
Lightvalve 67:c2812cf26c38 1745
Lightvalve 49:e7bcfc244d40 1746 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1747 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1748 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1749 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1750 }
Lightvalve 49:e7bcfc244d40 1751 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1752
Lightvalve 19:23b7c1ad8683 1753 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1754 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1755 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1756
Lightvalve 30:8d561f16383b 1757 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1758 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1759 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1760 } else {
jobuuu 2:a1c0a37df760 1761 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1762 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1763 }
Lightvalve 13:747daba9cf59 1764
jobuuu 1:e04e563be5ce 1765 //pwm
Lightvalve 30:8d561f16383b 1766 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1767 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1768
Lightvalve 61:bc8c8270f0ab 1769
Lightvalve 57:f4819de54e7a 1770 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1771
Lightvalve 54:647072f5307a 1772 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1773 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1774 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1775 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1776 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1777 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1778 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 1779 }
Lightvalve 57:f4819de54e7a 1780 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1781 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1782 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 1783 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1784 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 1785 }
Lightvalve 52:8ea76864368a 1786 }
Lightvalve 52:8ea76864368a 1787 }
Lightvalve 56:6f50d9d3bfee 1788 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1789 //valve position
Lightvalve 54:647072f5307a 1790 double t_value = 0;
Lightvalve 67:c2812cf26c38 1791 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 67:c2812cf26c38 1792 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1793 } else {
Lightvalve 67:c2812cf26c38 1794 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1795 }
Lightvalve 67:c2812cf26c38 1796 // if(OPERATING_MODE==5) {
Lightvalve 67:c2812cf26c38 1797 // t_value = (double) value;
Lightvalve 67:c2812cf26c38 1798 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 67:c2812cf26c38 1799 // t_value = cur.sen;
Lightvalve 57:f4819de54e7a 1800 // } else {
Lightvalve 67:c2812cf26c38 1801 // t_value = V_out;
Lightvalve 67:c2812cf26c38 1802 // }
Lightvalve 67:c2812cf26c38 1803 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1804 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1805 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1806 }
Lightvalve 58:2eade98630e2 1807
Lightvalve 58:2eade98630e2 1808
Lightvalve 56:6f50d9d3bfee 1809 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1810 //pressure A and B
Lightvalve 57:f4819de54e7a 1811 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1812 }
Lightvalve 58:2eade98630e2 1813
Lightvalve 57:f4819de54e7a 1814 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1815 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1816 ;
Lightvalve 57:f4819de54e7a 1817 }
Lightvalve 58:2eade98630e2 1818
Lightvalve 56:6f50d9d3bfee 1819 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1820 //PWM
Lightvalve 73:f80dc3970c99 1821 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1822 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1823 }
Lightvalve 57:f4819de54e7a 1824 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1825 // ;
Lightvalve 57:f4819de54e7a 1826 // }
Lightvalve 56:6f50d9d3bfee 1827 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1828 //valve position
Lightvalve 73:f80dc3970c99 1829 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 1830 }
Lightvalve 20:806196fda269 1831
Lightvalve 54:647072f5307a 1832 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1833 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1834 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1835 // }
Lightvalve 54:647072f5307a 1836 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1837 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1838 //}
Lightvalve 52:8ea76864368a 1839
Lightvalve 54:647072f5307a 1840 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1841 }
Lightvalve 54:647072f5307a 1842 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1843
Lightvalve 20:806196fda269 1844 }
Lightvalve 52:8ea76864368a 1845 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1846
Lightvalve 58:2eade98630e2 1847 }