Jaesung Oh / Mbed 2 deprecated HydraulicControlBoard_SW

HCB with MPC

Dependencies:   mbed Eigen FastPWM

main.cpp@25:f83396e3d25c, 2019-10-14 (annotated)

Committer:
jsoh91
Date:
Mon Oct 14 10:08:13 2019 +0000
Revision:
25:f83396e3d25c
Parent:
24:ef6e1092e9e6 
withMPC

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jsoh91 25:f83396e3d25c 1
jsoh91 25:f83396e3d25c 2 //JS MODI
jsoh91 25:f83396e3d25c 3 #include "quadprog.h"
jsoh91 25:f83396e3d25c 4 #include <cstdlib>
jsoh91 25:f83396e3d25c 5 #include "Eigen/Dense.h"
jsoh91 25:f83396e3d25c 6
jsoh91 25:f83396e3d25c 7 using namespace std;
jsoh91 25:f83396e3d25c 8 using namespace Eigen;
jsoh91 25:f83396e3d25c 9
jsoh91 25:f83396e3d25c 10 class JS_QP
jsoh91 25:f83396e3d25c 11 {
jsoh91 25:f83396e3d25c 12 private:
jsoh91 25:f83396e3d25c 13 int NUMCOLS;//length of X
jsoh91 25:f83396e3d25c 14 int NUMEQ;
jsoh91 25:f83396e3d25c 15 int NUMINEQ;
jsoh91 25:f83396e3d25c 16
jsoh91 25:f83396e3d25c 17 MatrixXd A_ineq,B_ineq;
jsoh91 25:f83396e3d25c 18 MatrixXd A_eq,B_eq;
jsoh91 25:f83396e3d25c 19
jsoh91 25:f83396e3d25c 20 public:
jsoh91 25:f83396e3d25c 21 MatrixXd H,F;
jsoh91 25:f83396e3d25c 22 MatrixXd X;
jsoh91 25:f83396e3d25c 23
jsoh91 25:f83396e3d25c 24 public:
jsoh91 25:f83396e3d25c 25 void setNums(int _xlength, int numEqConstraints, int numIneqConstraints)
jsoh91 25:f83396e3d25c 26 {
jsoh91 25:f83396e3d25c 27 NUMCOLS = _xlength;//should be 18+12+3*contact
jsoh91 25:f83396e3d25c 28 NUMEQ = numEqConstraints;//NUMCOLS(dynamics) + NUMCOLS(contactconstraints + swingleg)
jsoh91 25:f83396e3d25c 29 //contact to be weight?
jsoh91 25:f83396e3d25c 30 NUMINEQ = numIneqConstraints;//friction cone approximation -ufz<fx<ufz, -ufz<fy<ufz ->4
jsoh91 25:f83396e3d25c 31
jsoh91 25:f83396e3d25c 32 //maybe matrix assignment here
jsoh91 25:f83396e3d25c 33 X = MatrixXd::Zero(NUMCOLS,1);
jsoh91 25:f83396e3d25c 34 A_eq = MatrixXd::Zero(NUMEQ, NUMCOLS);
jsoh91 25:f83396e3d25c 35 B_eq = MatrixXd::Zero(NUMEQ, 1);
jsoh91 25:f83396e3d25c 36
jsoh91 25:f83396e3d25c 37 A_ineq = MatrixXd::Zero(NUMINEQ, NUMCOLS);
jsoh91 25:f83396e3d25c 38 B_ineq = MatrixXd::Zero(NUMINEQ, 1);
jsoh91 25:f83396e3d25c 39
jsoh91 25:f83396e3d25c 40
jsoh91 25:f83396e3d25c 41 H = MatrixXd::Zero(NUMCOLS,NUMCOLS);
jsoh91 25:f83396e3d25c 42 F = MatrixXd::Zero(NUMCOLS,1);
jsoh91 25:f83396e3d25c 43 }
jsoh91 25:f83396e3d25c 44
jsoh91 25:f83396e3d25c 45 void make_EQ(MatrixXd A, MatrixXd b)
jsoh91 25:f83396e3d25c 46 {
jsoh91 25:f83396e3d25c 47 //Aeq*X = Beq
jsoh91 25:f83396e3d25c 48 A_eq = A;
jsoh91 25:f83396e3d25c 49 B_eq = b;
jsoh91 25:f83396e3d25c 50 }
jsoh91 25:f83396e3d25c 51
jsoh91 25:f83396e3d25c 52 void make_IEQ(MatrixXd A, MatrixXd b)
jsoh91 25:f83396e3d25c 53 {
jsoh91 25:f83396e3d25c 54 // Aineq*X < Bineq
jsoh91 25:f83396e3d25c 55 A_ineq = A;
jsoh91 25:f83396e3d25c 56 B_ineq = b;
jsoh91 25:f83396e3d25c 57 }
jsoh91 25:f83396e3d25c 58
jsoh91 25:f83396e3d25c 59 void make_HF(MatrixXd A, MatrixXd b, int mode=-1)
jsoh91 25:f83396e3d25c 60 {
jsoh91 25:f83396e3d25c 61 //min (0.5* x H x + F x)
jsoh91 25:f83396e3d25c 62 if(mode == -1) {
jsoh91 25:f83396e3d25c 63 H = A.transpose() * A + MatrixXd::Identity(NUMCOLS,NUMCOLS)*1e-3;
jsoh91 25:f83396e3d25c 64 F = -A.transpose() * b;
jsoh91 25:f83396e3d25c 65
jsoh91 25:f83396e3d25c 66 } else {
jsoh91 25:f83396e3d25c 67 H = A;
jsoh91 25:f83396e3d25c 68 F = b;
jsoh91 25:f83396e3d25c 69
jsoh91 25:f83396e3d25c 70 }
jsoh91 25:f83396e3d25c 71
jsoh91 25:f83396e3d25c 72 }
jsoh91 25:f83396e3d25c 73
jsoh91 25:f83396e3d25c 74 MatrixXd solve_QP()
jsoh91 25:f83396e3d25c 75 {
jsoh91 25:f83396e3d25c 76 quadprogpp::Vector<double> outX;
jsoh91 25:f83396e3d25c 77 quadprogpp::Matrix<double> G;
jsoh91 25:f83396e3d25c 78 quadprogpp::Vector<double> g0;
jsoh91 25:f83396e3d25c 79 quadprogpp::Matrix<double> CE;
jsoh91 25:f83396e3d25c 80 quadprogpp::Vector<double> ce0;
jsoh91 25:f83396e3d25c 81 quadprogpp::Matrix<double> CI;
jsoh91 25:f83396e3d25c 82 quadprogpp::Vector<double> ci0;
jsoh91 25:f83396e3d25c 83 //min 0.5 * x G x + g0 x
jsoh91 25:f83396e3d25c 84 //CE^T x + ce0 = 0
jsoh91 25:f83396e3d25c 85 //CI^T x + ci0 >= 0
jsoh91 25:f83396e3d25c 86
jsoh91 25:f83396e3d25c 87 G.resize(NUMCOLS,NUMCOLS);
jsoh91 25:f83396e3d25c 88 g0.resize(NUMCOLS);
jsoh91 25:f83396e3d25c 89 for(int i=0; i<NUMCOLS; i++) {
jsoh91 25:f83396e3d25c 90 for(int j=0; j<NUMCOLS; j++) {
jsoh91 25:f83396e3d25c 91 G[i][j] = H(i,j);
jsoh91 25:f83396e3d25c 92 }
jsoh91 25:f83396e3d25c 93 g0[i] = F(i,0);
jsoh91 25:f83396e3d25c 94 }
jsoh91 25:f83396e3d25c 95 CE.resize(NUMCOLS,NUMEQ);
jsoh91 25:f83396e3d25c 96 ce0.resize(NUMEQ);
jsoh91 25:f83396e3d25c 97 for(int i=0; i<NUMCOLS; i++) {
jsoh91 25:f83396e3d25c 98 for(int j=0; j<NUMEQ; j++) {
jsoh91 25:f83396e3d25c 99 CE[i][j] = -A_eq(j,i);
jsoh91 25:f83396e3d25c 100 }
jsoh91 25:f83396e3d25c 101 }
jsoh91 25:f83396e3d25c 102 for(int j=0; j<NUMEQ; j++) {
jsoh91 25:f83396e3d25c 103 ce0[j] = B_eq(j,0);
jsoh91 25:f83396e3d25c 104 }
jsoh91 25:f83396e3d25c 105 CI.resize(NUMCOLS,NUMINEQ);
jsoh91 25:f83396e3d25c 106 ci0.resize(NUMINEQ);
jsoh91 25:f83396e3d25c 107 for(int i=0; i<NUMCOLS; i++) {
jsoh91 25:f83396e3d25c 108 for(int j=0; j<NUMINEQ; j++) {
jsoh91 25:f83396e3d25c 109 CI[i][j] = -A_ineq(j,i);
jsoh91 25:f83396e3d25c 110 }
jsoh91 25:f83396e3d25c 111 }
jsoh91 25:f83396e3d25c 112 for(int j=0; j<NUMINEQ; j++) {
jsoh91 25:f83396e3d25c 113 ci0[j] = B_ineq(j,0);
jsoh91 25:f83396e3d25c 114 }
jsoh91 25:f83396e3d25c 115 outX.resize(NUMCOLS);
jsoh91 25:f83396e3d25c 116
jsoh91 25:f83396e3d25c 117 solve_quadprog(G, g0, CE, ce0, CI, ci0, outX);
jsoh91 25:f83396e3d25c 118 for(int i=0; i<NUMCOLS; i++) {
jsoh91 25:f83396e3d25c 119 X(i,0) = outX[i];
jsoh91 25:f83396e3d25c 120 }
jsoh91 25:f83396e3d25c 121
jsoh91 25:f83396e3d25c 122 return X;
jsoh91 25:f83396e3d25c 123
jsoh91 25:f83396e3d25c 124 }
jsoh91 25:f83396e3d25c 125
jsoh91 25:f83396e3d25c 126 public:
jsoh91 25:f83396e3d25c 127
jsoh91 25:f83396e3d25c 128 };
jsoh91 25:f83396e3d25c 129
jsoh91 25:f83396e3d25c 130 JS_QP js_qp;
jsoh91 25:f83396e3d25c 131
jsoh91 25:f83396e3d25c 132
jsoh91 25:f83396e3d25c 133 MatrixXd Aa = MatrixXd::Zero(20,2);
jsoh91 25:f83396e3d25c 134 MatrixXd Ba = MatrixXd::Zero(20,10);
jsoh91 25:f83396e3d25c 135 MatrixXd Ga = MatrixXd::Zero(20,20);
jsoh91 25:f83396e3d25c 136
jsoh91 25:f83396e3d25c 137 MatrixXd ref_a = MatrixXd::Zero(20,1);
jsoh91 25:f83396e3d25c 138 MatrixXd w0_a = MatrixXd::Zero(20,1);
jsoh91 25:f83396e3d25c 139
jsoh91 25:f83396e3d25c 140 MatrixXd At;
jsoh91 25:f83396e3d25c 141 MatrixXd Bt;
jsoh91 25:f83396e3d25c 142
jsoh91 25:f83396e3d25c 143 MatrixXd X_state = MatrixXd::Zero(2,1);
jsoh91 25:f83396e3d25c 144
jsoh91 25:f83396e3d25c 145 MatrixXd Q = MatrixXd::Identity(20,20);
jsoh91 25:f83396e3d25c 146 MatrixXd R = MatrixXd::Identity(10,10);
jsoh91 25:f83396e3d25c 147
jsoh91 25:f83396e3d25c 148 MatrixXd H;
jsoh91 25:f83396e3d25c 149 MatrixXd F;
jsoh91 25:f83396e3d25c 150
jsoh91 25:f83396e3d25c 151 MatrixXd out;
jsoh91 25:f83396e3d25c 152
jsoh91 25:f83396e3d25c 153 MatrixXd Aieq = MatrixXd::Zero(20,10);
jsoh91 25:f83396e3d25c 154 MatrixXd bieq = MatrixXd::Zero(20,1);
jsoh91 25:f83396e3d25c 155
jsoh91 25:f83396e3d25c 156 float iq_err_sum = 0.0;
jsoh91 25:f83396e3d25c 157 MatrixXd i_ref = MatrixXd::Zero(10,1);
jsoh91 25:f83396e3d25c 158 float iq = 0.0;
jsoh91 25:f83396e3d25c 159
jsoh91 25:f83396e3d25c 160 //original
GiJeongKim 0:51c43836c1d7 161 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 162 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 163 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 164 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 165 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 166 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 167 #include "setting.h"
Lightvalve 11:82d8768d7351 168 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 169 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 170 #include "FlashWriter.h"
GiJeongKim 0:51c43836c1d7 171
jsoh91 25:f83396e3d25c 172 Timer t;
jsoh91 25:f83396e3d25c 173
jobuuu 7:e9086c72bb22 174 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 175 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 176 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 177 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 178 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 179 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 180 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 181 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 182
Lightvalve 24:ef6e1092e9e6 183
jobuuu 7:e9086c72bb22 184 // PWM ///////////////////////////////////////////
jobuuu 2:a1c0a37df760 185 double dtc_v=0.0;
jobuuu 2:a1c0a37df760 186 double dtc_w=0.0;
GiJeongKim 0:51c43836c1d7 187
jobuuu 7:e9086c72bb22 188 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 189 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 190 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 191 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 192
jobuuu 7:e9086c72bb22 193 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 194 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 195 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 196 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 197 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 198 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 199 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 200
jobuuu 7:e9086c72bb22 201 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 202 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 203
jobuuu 7:e9086c72bb22 204 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 205 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 206 CANMessage msg;
Lightvalve 11:82d8768d7351 207 void onMsgReceived()
Lightvalve 11:82d8768d7351 208 {
Lightvalve 11:82d8768d7351 209 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 210 }
jobuuu 2:a1c0a37df760 211
jobuuu 7:e9086c72bb22 212 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 213 State pos;
jobuuu 7:e9086c72bb22 214 State vel;
jobuuu 7:e9086c72bb22 215 State Vout;
jobuuu 7:e9086c72bb22 216 State torq;
jobuuu 7:e9086c72bb22 217 State pres_A;
jobuuu 7:e9086c72bb22 218 State pres_B;
jobuuu 7:e9086c72bb22 219 State cur;
Lightvalve 14:8e7590227d22 220 State valve_pos;
Lightvalve 14:8e7590227d22 221
Lightvalve 14:8e7590227d22 222 State INIT_Vout;
Lightvalve 14:8e7590227d22 223 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 224 State INIT_Pos;
Lightvalve 14:8e7590227d22 225 State INIT_torq;
jobuuu 5:a4319f79457b 226
jobuuu 5:a4319f79457b 227 double V_out=0.0;
jobuuu 5:a4319f79457b 228 double V_rem=0.0; // for anti-windup
jobuuu 5:a4319f79457b 229 double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV
jobuuu 5:a4319f79457b 230
jobuuu 5:a4319f79457b 231 double PWM_out=0.0;
Lightvalve 12:6f2531038ea4 232
Lightvalve 17:1865016ca2e7 233 int timer_while = 0;
Lightvalve 17:1865016ca2e7 234 int while_index = 0;
Lightvalve 17:1865016ca2e7 235
Lightvalve 19:23b7c1ad8683 236
Lightvalve 19:23b7c1ad8683 237 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 238 extern int CID_RX_REF_POSITION;
Lightvalve 19:23b7c1ad8683 239 extern int CID_RX_REF_TORQUE;
Lightvalve 19:23b7c1ad8683 240 extern int CID_RX_REF_PRES_DIFF;
Lightvalve 19:23b7c1ad8683 241 extern int CID_RX_REF_VOUT;
Lightvalve 19:23b7c1ad8683 242 extern int CID_RX_REF_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 243 extern int CID_RX_REF_CURRENT;
Lightvalve 19:23b7c1ad8683 244
Lightvalve 19:23b7c1ad8683 245 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 246 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 247 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 248 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 249 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 250 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 251
jobuuu 7:e9086c72bb22 252 // =============================================================================
jobuuu 7:e9086c72bb22 253 // =============================================================================
jobuuu 7:e9086c72bb22 254 // =============================================================================
jobuuu 7:e9086c72bb22 255
Lightvalve 12:6f2531038ea4 256 /*******************************************************************************
Lightvalve 12:6f2531038ea4 257 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 258 ******************************************************************************/
Lightvalve 13:747daba9cf59 259 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 260 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 261 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 262 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 263 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 264 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 265 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 266 };
Lightvalve 12:6f2531038ea4 267
Lightvalve 12:6f2531038ea4 268 /*******************************************************************************
Lightvalve 12:6f2531038ea4 269 * CONTROL MODE
Lightvalve 12:6f2531038ea4 270 ******************************************************************************/
Lightvalve 13:747daba9cf59 271 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 272 //control mode
Lightvalve 12:6f2531038ea4 273 MODE_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 274 MODE_VALVE_OPEN_LOOP, //1
Lightvalve 12:6f2531038ea4 275 MODE_VALVE_POSITION_CONTROL, //2
Lightvalve 13:747daba9cf59 276
Lightvalve 12:6f2531038ea4 277 MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve 12:6f2531038ea4 278 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 279 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 280
Lightvalve 12:6f2531038ea4 281 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 282 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 283 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 284
Lightvalve 12:6f2531038ea4 285 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 286 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 287
Lightvalve 14:8e7590227d22 288 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 289 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 290 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 291
Lightvalve 12:6f2531038ea4 292 //utility
Lightvalve 12:6f2531038ea4 293 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 294 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 295 MODE_FIND_HOME, //22
Lightvalve 12:6f2531038ea4 296 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 297 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 298 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 299 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 300
Lightvalve 12:6f2531038ea4 301 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 302 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 303 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 304 };
Lightvalve 12:6f2531038ea4 305
GiJeongKim 0:51c43836c1d7 306 int main()
GiJeongKim 0:51c43836c1d7 307 {
jobuuu 6:df07d3491e3a 308 /*********************************
jobuuu 1:e04e563be5ce 309 *** Initialization
jobuuu 6:df07d3491e3a 310 *********************************/
Lightvalve 19:23b7c1ad8683 311 //LED = 1;
Lightvalve 19:23b7c1ad8683 312 //pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 313
GiJeongKim 0:51c43836c1d7 314 // i2c init
Lightvalve 8:5d2eebdad025 315 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 316 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 317 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 318 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 319 make_delay();
jobuuu 2:a1c0a37df760 320
GiJeongKim 0:51c43836c1d7 321 // // spi init
Lightvalve 16:903b5a4433b4 322 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 323 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 324 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 325 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 326 make_delay();
Lightvalve 21:e5f1a43ea6f9 327
Lightvalve 16:903b5a4433b4 328 //rom
Lightvalve 19:23b7c1ad8683 329 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 330 make_delay();
Lightvalve 13:747daba9cf59 331
GiJeongKim 0:51c43836c1d7 332 // ADC init
jobuuu 5:a4319f79457b 333 Init_ADC();
Lightvalve 11:82d8768d7351 334 make_delay();
jobuuu 2:a1c0a37df760 335
GiJeongKim 0:51c43836c1d7 336 // Pwm init
GiJeongKim 0:51c43836c1d7 337 Init_PWM();
GiJeongKim 0:51c43836c1d7 338 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 339 make_delay();
Lightvalve 13:747daba9cf59 340
Lightvalve 11:82d8768d7351 341 // TMR3 init
Lightvalve 11:82d8768d7351 342 Init_TMR3();
Lightvalve 11:82d8768d7351 343 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 344 make_delay();
Lightvalve 21:e5f1a43ea6f9 345
Lightvalve 20:806196fda269 346 // TMR5 init
Lightvalve 23:59218d4a256d 347 Init_TMR2();
Lightvalve 23:59218d4a256d 348 TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 20:806196fda269 349 make_delay();
Lightvalve 21:e5f1a43ea6f9 350
GiJeongKim 0:51c43836c1d7 351 // CAN
jobuuu 2:a1c0a37df760 352 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 353 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 354 make_delay();
jsoh91 25:f83396e3d25c 355
Lightvalve 23:59218d4a256d 356 //Timer priority
Lightvalve 23:59218d4a256d 357 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 23:59218d4a256d 358 NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 23:59218d4a256d 359 NVIC_SetPriority(TIM4_IRQn, 4);
jsoh91 25:f83396e3d25c 360
Lightvalve 23:59218d4a256d 361 //can.reset();
Lightvalve 19:23b7c1ad8683 362 can.filter(msg.id, 0xFFFFF000, CANStandard);
jsoh91 25:f83396e3d25c 363
GiJeongKim 0:51c43836c1d7 364 // spi _ enc
GiJeongKim 0:51c43836c1d7 365 spi_enc_set_init();
Lightvalve 11:82d8768d7351 366 make_delay();
Lightvalve 13:747daba9cf59 367
Lightvalve 11:82d8768d7351 368 //DAC init
Lightvalve 16:903b5a4433b4 369 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 16:903b5a4433b4 370 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 11:82d8768d7351 371 make_delay();
Lightvalve 13:747daba9cf59 372
Lightvalve 19:23b7c1ad8683 373 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 374 if(i%2==0)
Lightvalve 11:82d8768d7351 375 ID_index_array[i] = - i * 0.5;
Lightvalve 11:82d8768d7351 376 else
Lightvalve 11:82d8768d7351 377 ID_index_array[i] = (i+1) * 0.5;
Lightvalve 11:82d8768d7351 378 }
Lightvalve 13:747daba9cf59 379
jsoh91 25:f83396e3d25c 380
jsoh91 25:f83396e3d25c 381
jsoh91 25:f83396e3d25c 382 //JS MODI
jsoh91 25:f83396e3d25c 383
jsoh91 25:f83396e3d25c 384
jsoh91 25:f83396e3d25c 385 Aa <<
jsoh91 25:f83396e3d25c 386 1.000000,-1.000000
jsoh91 25:f83396e3d25c 387 ,0.000000,-0.666667
jsoh91 25:f83396e3d25c 388 ,1.000000,-0.333333
jsoh91 25:f83396e3d25c 389 ,0.000000,0.444444
jsoh91 25:f83396e3d25c 390 ,1.000000,-0.777778
jsoh91 25:f83396e3d25c 391 ,0.000000,-0.296296
jsoh91 25:f83396e3d25c 392 ,1.000000,-0.481481
jsoh91 25:f83396e3d25c 393 ,0.000000,0.197531
jsoh91 25:f83396e3d25c 394 ,1.000000,-0.679012
jsoh91 25:f83396e3d25c 395 ,0.000000,-0.131687
jsoh91 25:f83396e3d25c 396 ,1.000000,-0.547325
jsoh91 25:f83396e3d25c 397 ,0.000000,0.087791
jsoh91 25:f83396e3d25c 398 ,1.000000,-0.635117
jsoh91 25:f83396e3d25c 399 ,0.000000,-0.058528
jsoh91 25:f83396e3d25c 400 ,1.000000,-0.576589
jsoh91 25:f83396e3d25c 401 ,0.000000,0.039018
jsoh91 25:f83396e3d25c 402 ,1.000000,-0.615607
jsoh91 25:f83396e3d25c 403 ,0.000000,-0.026012
jsoh91 25:f83396e3d25c 404 ,1.000000,-0.589595
jsoh91 25:f83396e3d25c 405 ,0.000000,0.017342;
jsoh91 25:f83396e3d25c 406
jsoh91 25:f83396e3d25c 407
jsoh91 25:f83396e3d25c 408 Ba <<
jsoh91 25:f83396e3d25c 409 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 410 ,0.066667,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 411 ,-0.066667,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 412 ,-0.044444,0.066667,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 413 ,-0.022222,-0.066667,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 414 ,0.029630,-0.044444,0.066667,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 415 ,-0.051852,-0.022222,-0.066667,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 416 ,-0.019753,0.029630,-0.044444,0.066667,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 417 ,-0.032099,-0.051852,-0.022222,-0.066667,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 418 ,0.013169,-0.019753,0.029630,-0.044444,0.066667,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 419 ,-0.045267,-0.032099,-0.051852,-0.022222,-0.066667,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 420 ,-0.008779,0.013169,-0.019753,0.029630,-0.044444,0.066667,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 421 ,-0.036488,-0.045267,-0.032099,-0.051852,-0.022222,-0.066667,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 422 ,0.005853,-0.008779,0.013169,-0.019753,0.029630,-0.044444,0.066667,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 423 ,-0.042341,-0.036488,-0.045267,-0.032099,-0.051852,-0.022222,-0.066667,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 424 ,-0.003902,0.005853,-0.008779,0.013169,-0.019753,0.029630,-0.044444,0.066667,0.000000,0.000000
jsoh91 25:f83396e3d25c 425 ,-0.038439,-0.042341,-0.036488,-0.045267,-0.032099,-0.051852,-0.022222,-0.066667,0.000000,0.000000
jsoh91 25:f83396e3d25c 426 ,0.002601,-0.003902,0.005853,-0.008779,0.013169,-0.019753,0.029630,-0.044444,0.066667,0.000000
jsoh91 25:f83396e3d25c 427 ,-0.041040,-0.038439,-0.042341,-0.036488,-0.045267,-0.032099,-0.051852,-0.022222,-0.066667,0.000000
jsoh91 25:f83396e3d25c 428 ,-0.001734,0.002601,-0.003902,0.005853,-0.008779,0.013169,-0.019753,0.029630,-0.044444,0.066667;
jsoh91 25:f83396e3d25c 429
jsoh91 25:f83396e3d25c 430
jsoh91 25:f83396e3d25c 431
jsoh91 25:f83396e3d25c 432 Ga <<
jsoh91 25:f83396e3d25c 433 1.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 434 ,0.000000,-0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 435 ,1.000000,0.000000,1.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 436 ,0.000000,0.000000,0.000000,-0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 437 ,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 438 ,0.000000,0.000000,0.000000,0.000000,0.000000,-0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 439 ,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 440 ,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,-0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 441 ,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 442 ,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,-0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 443 ,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 444 ,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,-0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 445 ,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 446 ,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,-0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 447 ,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 448 ,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,-0.000000,0.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 449 ,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 450 ,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,-0.000000,0.000000,0.000000
jsoh91 25:f83396e3d25c 451 ,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000,1.000000,0.000000
jsoh91 25:f83396e3d25c 452 ,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,-0.000000;
jsoh91 25:f83396e3d25c 453
jsoh91 25:f83396e3d25c 454
jsoh91 25:f83396e3d25c 455
jsoh91 25:f83396e3d25c 456 Aieq.block(0,0,10,10) = MatrixXd::Identity(10,10);
jsoh91 25:f83396e3d25c 457 Aieq.block(10,0,10,10) = -MatrixXd::Identity(10,10);
jsoh91 25:f83396e3d25c 458
jsoh91 25:f83396e3d25c 459 for(int i=0; i<10; i++) {
jsoh91 25:f83396e3d25c 460 bieq(i,0) = 5.0;
jsoh91 25:f83396e3d25c 461 bieq(i+10,0) = 5.0;
jsoh91 25:f83396e3d25c 462 }
jsoh91 25:f83396e3d25c 463
jsoh91 25:f83396e3d25c 464 for(int i=0; i<10; i++) {
jsoh91 25:f83396e3d25c 465 i_ref(i,0) = 10e-3;
jsoh91 25:f83396e3d25c 466 }
jsoh91 25:f83396e3d25c 467
jobuuu 6:df07d3491e3a 468 /************************************
jobuuu 1:e04e563be5ce 469 *** Program is operating!
jobuuu 6:df07d3491e3a 470 *************************************/
GiJeongKim 0:51c43836c1d7 471 while(1) {
Lightvalve 21:e5f1a43ea6f9 472 if(timer_while==1000) {
Lightvalve 17:1865016ca2e7 473 //i2c
jsoh91 25:f83396e3d25c 474 //read_field(i2c_slave_addr1);
jsoh91 25:f83396e3d25c 475 //if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 21:e5f1a43ea6f9 476
Lightvalve 19:23b7c1ad8683 477 // if(LED==1) {
Lightvalve 19:23b7c1ad8683 478 // LED=0;
Lightvalve 19:23b7c1ad8683 479 // } else
Lightvalve 19:23b7c1ad8683 480 // LED = 1;
Lightvalve 17:1865016ca2e7 481 timer_while = 0;
Lightvalve 21:e5f1a43ea6f9 482
Lightvalve 17:1865016ca2e7 483 }
Lightvalve 17:1865016ca2e7 484 timer_while ++;
GiJeongKim 0:51c43836c1d7 485 }
jobuuu 1:e04e563be5ce 486 }
jobuuu 1:e04e563be5ce 487
Lightvalve 14:8e7590227d22 488 int DDV_JOINT_POS_FF(double REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 489 {
Lightvalve 14:8e7590227d22 490
Lightvalve 13:747daba9cf59 491 int i = 0;
Lightvalve 13:747daba9cf59 492 int Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 14:8e7590227d22 493 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 494 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 495 if(i==0) {
Lightvalve 19:23b7c1ad8683 496 Ref_Valve_Pos_FF = ((int) 10.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 14:8e7590227d22 497 } else {
Lightvalve 19:23b7c1ad8683 498 Ref_Valve_Pos_FF = ((int) 10.0*(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])) + DDV_CENTER + 10*ID_index_array[i-1];
Lightvalve 13:747daba9cf59 499 }
Lightvalve 13:747daba9cf59 500 break;
Lightvalve 13:747daba9cf59 501 }
Lightvalve 13:747daba9cf59 502 }
Lightvalve 14:8e7590227d22 503 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 13:747daba9cf59 504 Ref_Valve_Pos_FF = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 505 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 13:747daba9cf59 506 Ref_Valve_Pos_FF = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 507 }
Lightvalve 19:23b7c1ad8683 508 Ref_Valve_Pos_FF_CAN = Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 509 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 510 }
jobuuu 6:df07d3491e3a 511
jobuuu 6:df07d3491e3a 512
Lightvalve 14:8e7590227d22 513 void VALVE_POS_CONTROL(double REF_VALVE_POS)
Lightvalve 14:8e7590227d22 514 {
Lightvalve 13:747daba9cf59 515 int i = 0;
Lightvalve 13:747daba9cf59 516
Lightvalve 13:747daba9cf59 517 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 518 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 519 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 520 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 521 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 522 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 523
Lightvalve 13:747daba9cf59 524 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 525
Lightvalve 14:8e7590227d22 526 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 527 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 528 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 529 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 530 }
jsoh91 25:f83396e3d25c 531
jsoh91 25:f83396e3d25c 532
Lightvalve 23:59218d4a256d 533 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
Lightvalve 23:59218d4a256d 534 // {
Lightvalve 23:59218d4a256d 535 // if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
Lightvalve 23:59218d4a256d 536 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[0]);
Lightvalve 23:59218d4a256d 537 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
Lightvalve 23:59218d4a256d 538 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (double) ID_index_array[1];
Lightvalve 23:59218d4a256d 539 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
Lightvalve 23:59218d4a256d 540 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (double) ID_index_array[3];
Lightvalve 23:59218d4a256d 541 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
Lightvalve 23:59218d4a256d 542 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (double) ID_index_array[5];
Lightvalve 23:59218d4a256d 543 // }else
Lightvalve 23:59218d4a256d 544 // VALVE_PWM_RAW_FF = 12000.0;
Lightvalve 23:59218d4a256d 545 // }
Lightvalve 23:59218d4a256d 546 // else
Lightvalve 23:59218d4a256d 547 // {
Lightvalve 23:59218d4a256d 548 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
Lightvalve 23:59218d4a256d 549 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (double) ID_index_array[2];
Lightvalve 23:59218d4a256d 550 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
Lightvalve 23:59218d4a256d 551 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (double) ID_index_array[4];
Lightvalve 23:59218d4a256d 552 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
Lightvalve 23:59218d4a256d 553 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (double) ID_index_array[6];
Lightvalve 23:59218d4a256d 554 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
Lightvalve 23:59218d4a256d 555 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (double) ID_index_array[8];
Lightvalve 23:59218d4a256d 556 // }else
Lightvalve 23:59218d4a256d 557 // VALVE_PWM_RAW_FF = -12000.0;
Lightvalve 23:59218d4a256d 558 // }
Lightvalve 14:8e7590227d22 559
Lightvalve 18:b8adf1582ea3 560 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 561 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 562 if(i==0) {
Lightvalve 18:b8adf1582ea3 563 VALVE_PWM_RAW_FF = (double) 1000.0 / (double) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 564 } else {
Lightvalve 18:b8adf1582ea3 565 VALVE_PWM_RAW_FF = (double) 1000.0* (double) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0* (double) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 566 }
Lightvalve 13:747daba9cf59 567 break;
Lightvalve 13:747daba9cf59 568 }
Lightvalve 13:747daba9cf59 569 }
Lightvalve 19:23b7c1ad8683 570
Lightvalve 14:8e7590227d22 571 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 572 }
Lightvalve 13:747daba9cf59 573
Lightvalve 14:8e7590227d22 574 #define LT_MAX_IDX 57
Lightvalve 14:8e7590227d22 575 double LT_PWM_duty[LT_MAX_IDX] = {-100.0, -80.0, -60.0, -50.0, -40.0, -35.0, -30.0, -25.0, -20.0,
Lightvalve 14:8e7590227d22 576 -19.0, -18.0, -17.0, -16.0, -15.0, -14.0, -13.0, -12.0, -11.0, -10.0,
Lightvalve 14:8e7590227d22 577 -9.0, -8.0, -7.0, -6.0, -5.0, -4.0, -3.0, -2.0, -1.0, 0.0,
Lightvalve 14:8e7590227d22 578 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0,
Lightvalve 14:8e7590227d22 579 11.0, 12.0, 13.0, 14.0, 15.0, 16.0, 17.0, 18.0, 19.0, 20.0,
Lightvalve 14:8e7590227d22 580 25.0, 30.0, 35.0, 40.0, 50.0, 60.0, 80.0, 100.0
Lightvalve 14:8e7590227d22 581 }; // duty
Lightvalve 14:8e7590227d22 582 double LT_Voltage_Output[LT_MAX_IDX] = {-321.4, -291.3, -261.5, -246.8, -231.7, -223.9, -216.1, -207.9, -198.8,
Lightvalve 14:8e7590227d22 583 -196.9, -195.0, -192.5, -188.8, -184.5, -180.2, -175.9, -171.5, -166.3, -161.0,
Lightvalve 14:8e7590227d22 584 -156.0, -149.5, -139.0, -126.0, -107.0, -87.5, -64.0, -38.5, -9.4, 0.0,
Lightvalve 14:8e7590227d22 585 12.0, 43.5, 69.0, 94.0, 114.0, 132.0, 146.0, 155.5, 162.3, 168.2,
Lightvalve 14:8e7590227d22 586 173.1, 178.2, 182.8, 187.4, 191.8, 196.0, 199.7, 201.9, 203.8, 205.6,
Lightvalve 14:8e7590227d22 587 214.6, 222.5, 230.4, 238.2, 253.3, 268.0, 297.6, 327.7
Lightvalve 14:8e7590227d22 588 }; // mV
Lightvalve 13:747daba9cf59 589
Lightvalve 14:8e7590227d22 590 double PWM_duty_byLT(double Ref_V)
Lightvalve 14:8e7590227d22 591 {
Lightvalve 13:747daba9cf59 592 double PWM_duty = 0.0;
Lightvalve 13:747daba9cf59 593 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 13:747daba9cf59 594 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 595 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 13:747daba9cf59 596 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 597 } else {
Lightvalve 13:747daba9cf59 598 int idx = 0;
Lightvalve 13:747daba9cf59 599 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 13:747daba9cf59 600 double ini_x = LT_Voltage_Output[idx];
Lightvalve 13:747daba9cf59 601 double fin_x = LT_Voltage_Output[idx+1];
Lightvalve 13:747daba9cf59 602 double ini_y = LT_PWM_duty[idx];
Lightvalve 13:747daba9cf59 603 double fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 604 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 605 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 606 break;
Lightvalve 13:747daba9cf59 607 }
Lightvalve 13:747daba9cf59 608 }
Lightvalve 13:747daba9cf59 609 }
Lightvalve 14:8e7590227d22 610
Lightvalve 13:747daba9cf59 611 return PWM_duty;
Lightvalve 13:747daba9cf59 612 }
jobuuu 6:df07d3491e3a 613
jobuuu 2:a1c0a37df760 614 /*******************************************************************************
jobuuu 2:a1c0a37df760 615 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 616 *******************************************************************************/
jobuuu 2:a1c0a37df760 617
Lightvalve 19:23b7c1ad8683 618 //unsigned long CNT_TMR4 = 0;
Lightvalve 17:1865016ca2e7 619 double FREQ_TMR4 = (double)FREQ_10k;
Lightvalve 17:1865016ca2e7 620 double DT_TMR4 = (double)DT_10k;
jobuuu 1:e04e563be5ce 621 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 622 {
Lightvalve 23:59218d4a256d 623
Lightvalve 19:23b7c1ad8683 624 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 625
Lightvalve 21:e5f1a43ea6f9 626 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 627 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 628 ********************************************************/
Lightvalve 13:747daba9cf59 629
Lightvalve 19:23b7c1ad8683 630
Lightvalve 21:e5f1a43ea6f9 631 //Using LoadCell
Lightvalve 15:bd0d12728506 632 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 633 // //while((ADC1->SR & 0b10));
Lightvalve 15:bd0d12728506 634 // double alpha_update_torque = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 15:bd0d12728506 635 // double torque_new = ((double)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0;
Lightvalve 15:bd0d12728506 636 // torq.sen = torq.sen*(1.0-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 17:1865016ca2e7 637
Lightvalve 19:23b7c1ad8683 638
Lightvalve 17:1865016ca2e7 639
Lightvalve 21:e5f1a43ea6f9 640 //Pressure sensor A
Lightvalve 21:e5f1a43ea6f9 641 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 642 //while((ADC1->SR & 0b10));
Lightvalve 21:e5f1a43ea6f9 643 double alpha_update_pres_A = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 21:e5f1a43ea6f9 644 double pres_A_new = ((double)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 21:e5f1a43ea6f9 645 pres_A.sen = pres_A.sen*(1.0-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 19:23b7c1ad8683 646
Lightvalve 21:e5f1a43ea6f9 647 //Pressure sensor 1B
Lightvalve 21:e5f1a43ea6f9 648 //ADC2->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 649 //while((ADC2->SR & 0b10));
Lightvalve 21:e5f1a43ea6f9 650 double alpha_update_pres_B = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 21:e5f1a43ea6f9 651 double pres_B_new = ((double)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 21:e5f1a43ea6f9 652 pres_B.sen = pres_B.sen*(1.0-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 21:e5f1a43ea6f9 653 torq.sen = pres_A.sen * (double) PISTON_AREA_A - pres_B.sen * (double) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 654
Lightvalve 17:1865016ca2e7 655
Lightvalve 17:1865016ca2e7 656
Lightvalve 21:e5f1a43ea6f9 657 //Current
Lightvalve 21:e5f1a43ea6f9 658 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 11:82d8768d7351 659 // a1=ADC2->DR;
Lightvalve 21:e5f1a43ea6f9 660 int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 661 //while((ADC3->SR & 0b10));
Lightvalve 21:e5f1a43ea6f9 662 double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz
Lightvalve 21:e5f1a43ea6f9 663 double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
Lightvalve 21:e5f1a43ea6f9 664 cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur);
jsoh91 25:f83396e3d25c 665 // cur.sen = raw_cur;
Lightvalve 17:1865016ca2e7 666
Lightvalve 21:e5f1a43ea6f9 667 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 668 *** Timer Counting & etc.
Lightvalve 21:e5f1a43ea6f9 669 ********************************************************/
Lightvalve 21:e5f1a43ea6f9 670 //CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 671 }
Lightvalve 11:82d8768d7351 672 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 673 }
Lightvalve 19:23b7c1ad8683 674
Lightvalve 19:23b7c1ad8683 675
Lightvalve 18:b8adf1582ea3 676 int j =0;
Lightvalve 19:23b7c1ad8683 677 //unsigned long CNT_TMR3 = 0;
Lightvalve 23:59218d4a256d 678 //double FREQ_TMR3 = (double)FREQ_5k;
Lightvalve 23:59218d4a256d 679 double FREQ_TMR3 = (double)FREQ_1k;
Lightvalve 23:59218d4a256d 680 //double DT_TMR3 = (double)DT_5k;
Lightvalve 23:59218d4a256d 681 double DT_TMR3 = (double)DT_1k;
Lightvalve 11:82d8768d7351 682 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 683 {
Lightvalve 19:23b7c1ad8683 684 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 12:6f2531038ea4 685 ENC_UPDATE();
Lightvalve 13:747daba9cf59 686
jsoh91 25:f83396e3d25c 687
jsoh91 25:f83396e3d25c 688
jsoh91 25:f83396e3d25c 689
jsoh91 25:f83396e3d25c 690
jsoh91 25:f83396e3d25c 691
jsoh91 25:f83396e3d25c 692
jsoh91 25:f83396e3d25c 693
Lightvalve 19:23b7c1ad8683 694 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 13:747daba9cf59 695
Lightvalve 14:8e7590227d22 696 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 697 case MODE_NO_ACT: {
Lightvalve 14:8e7590227d22 698 V_out = 0;
Lightvalve 13:747daba9cf59 699 break;
Lightvalve 13:747daba9cf59 700 }
Lightvalve 14:8e7590227d22 701
Lightvalve 14:8e7590227d22 702 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 18:b8adf1582ea3 703 V_out = (double) Vout.ref;
Lightvalve 14:8e7590227d22 704 break;
Lightvalve 14:8e7590227d22 705 }
Lightvalve 14:8e7590227d22 706
Lightvalve 14:8e7590227d22 707 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 708 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 709 break;
Lightvalve 14:8e7590227d22 710 }
Lightvalve 14:8e7590227d22 711
Lightvalve 14:8e7590227d22 712 case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve 13:747daba9cf59 713 double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback
Lightvalve 13:747daba9cf59 714 double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward
Lightvalve 13:747daba9cf59 715 double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback
Lightvalve 14:8e7590227d22 716
Lightvalve 13:747daba9cf59 717 // feedback input for position control
Lightvalve 14:8e7590227d22 718 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 719 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 720 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 721 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 722 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 723 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 724 // PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 14:8e7590227d22 725 PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve 13:747daba9cf59 726 PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01;
Lightvalve 14:8e7590227d22 727
Lightvalve 13:747daba9cf59 728 // feedforward input for position control
Lightvalve 14:8e7590227d22 729 double Ref_Vel_Act = vel.ref/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 13:747daba9cf59 730 double K_ff = 0.9;
Lightvalve 14:8e7590227d22 731 if(Ref_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve 14:8e7590227d22 732 if(Ref_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve 14:8e7590227d22 733 PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50;
Lightvalve 14:8e7590227d22 734
Lightvalve 13:747daba9cf59 735 // torque feedback
Lightvalve 15:bd0d12728506 736 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 737 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 738 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 739 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 740 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 741 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 742 // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 13:747daba9cf59 743 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 19:23b7c1ad8683 744
Lightvalve 13:747daba9cf59 745 PWM_RAW_FORCE_FB = 0.0;
Lightvalve 14:8e7590227d22 746
Lightvalve 14:8e7590227d22 747 V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve 14:8e7590227d22 748
Lightvalve 13:747daba9cf59 749 break;
Lightvalve 13:747daba9cf59 750 }
Lightvalve 14:8e7590227d22 751
Lightvalve 14:8e7590227d22 752 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
jsoh91 25:f83396e3d25c 753
jsoh91 25:f83396e3d25c 754
Lightvalve 13:747daba9cf59 755 double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
Lightvalve 19:23b7c1ad8683 756 //double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
Lightvalve 13:747daba9cf59 757 double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
Lightvalve 19:23b7c1ad8683 758 //int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 759 // feedback input for position control
Lightvalve 14:8e7590227d22 760 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 761 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 762 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 763 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 764 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 765 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 766 VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 13:747daba9cf59 767 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01;
Lightvalve 14:8e7590227d22 768
Lightvalve 14:8e7590227d22 769
Lightvalve 13:747daba9cf59 770 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 771 // feedforward input for position control
Lightvalve 14:8e7590227d22 772 // double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 773 // double K_ff = 0.9;
Lightvalve 14:8e7590227d22 774 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve 14:8e7590227d22 775 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve 14:8e7590227d22 776 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
Lightvalve 14:8e7590227d22 777
Lightvalve 13:747daba9cf59 778 // torque feedback
Lightvalve 15:bd0d12728506 779 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 780 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 781 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 782 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 783 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 784 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 785 // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 13:747daba9cf59 786 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 13:747daba9cf59 787 VALVE_POS_RAW_FORCE_FB = 0.0;
Lightvalve 14:8e7590227d22 788
Lightvalve 23:59218d4a256d 789 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 23:59218d4a256d 790 //valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 14:8e7590227d22 791 VALVE_POS_CONTROL(valve_pos.ref);
jsoh91 25:f83396e3d25c 792
jsoh91 25:f83396e3d25c 793
Lightvalve 13:747daba9cf59 794 break;
Lightvalve 13:747daba9cf59 795 }
Lightvalve 14:8e7590227d22 796
Lightvalve 14:8e7590227d22 797 case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 798
Lightvalve 13:747daba9cf59 799 break;
Lightvalve 13:747daba9cf59 800 }
Lightvalve 14:8e7590227d22 801
Lightvalve 14:8e7590227d22 802 case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 14:8e7590227d22 803 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 804 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 805 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 806 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 807 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 808 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 809 VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve 14:8e7590227d22 810
Lightvalve 14:8e7590227d22 811 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 812 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 813 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 814 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 815 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 816 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 817 VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 818
Lightvalve 13:747daba9cf59 819 VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 14:8e7590227d22 820
Lightvalve 14:8e7590227d22 821 V_out = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 822
Lightvalve 13:747daba9cf59 823 CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587;
Lightvalve 13:747daba9cf59 824 CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve 13:747daba9cf59 825 if (DIR_VALVE > 0) {
Lightvalve 13:747daba9cf59 826 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
Lightvalve 13:747daba9cf59 827 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve 13:747daba9cf59 828 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve 13:747daba9cf59 829 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve 13:747daba9cf59 830 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve 13:747daba9cf59 831 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve 13:747daba9cf59 832 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0;
Lightvalve 13:747daba9cf59 833 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0;
Lightvalve 13:747daba9cf59 834 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0;
Lightvalve 13:747daba9cf59 835 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0;
Lightvalve 13:747daba9cf59 836 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0;
Lightvalve 13:747daba9cf59 837 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 838 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 839 } else {
Lightvalve 13:747daba9cf59 840 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
Lightvalve 13:747daba9cf59 841 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve 13:747daba9cf59 842 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve 13:747daba9cf59 843 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve 13:747daba9cf59 844 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve 13:747daba9cf59 845 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve 13:747daba9cf59 846 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0;
Lightvalve 13:747daba9cf59 847 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0;
Lightvalve 13:747daba9cf59 848 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0;
Lightvalve 13:747daba9cf59 849 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0;
Lightvalve 13:747daba9cf59 850 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0;
Lightvalve 13:747daba9cf59 851 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 852 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 853 }
Lightvalve 13:747daba9cf59 854 // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5;
Lightvalve 14:8e7590227d22 855
Lightvalve 13:747daba9cf59 856 if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.))
Lightvalve 13:747daba9cf59 857 else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707;
Lightvalve 14:8e7590227d22 858
Lightvalve 18:b8adf1582ea3 859 V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve 14:8e7590227d22 860 break;
Lightvalve 14:8e7590227d22 861 }
Lightvalve 14:8e7590227d22 862
Lightvalve 14:8e7590227d22 863 case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 14:8e7590227d22 864 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 865 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 866 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 867 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 868 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 869 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 870 VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve 14:8e7590227d22 871
Lightvalve 15:bd0d12728506 872 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 873 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 874 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 875 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 876 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 877 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 878 VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 879
Lightvalve 14:8e7590227d22 880 valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 881 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 19:23b7c1ad8683 882
Lightvalve 14:8e7590227d22 883 break;
Lightvalve 14:8e7590227d22 884 }
Lightvalve 14:8e7590227d22 885
Lightvalve 14:8e7590227d22 886 case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 887
Lightvalve 14:8e7590227d22 888 break;
Lightvalve 14:8e7590227d22 889 }
Lightvalve 14:8e7590227d22 890
Lightvalve 19:23b7c1ad8683 891
Lightvalve 19:23b7c1ad8683 892 case MODE_TEST_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 893 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 894 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 895 }
Lightvalve 19:23b7c1ad8683 896 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 897
Lightvalve 19:23b7c1ad8683 898 // Set Current Reference
Lightvalve 14:8e7590227d22 899 double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve 14:8e7590227d22 900 double I_REF_MID = 0.0;
Lightvalve 14:8e7590227d22 901 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 902 I_REF = I_REF_MID + 1.0;
Lightvalve 14:8e7590227d22 903 } else {
Lightvalve 14:8e7590227d22 904 I_REF = I_REF_MID - 1.0;
Lightvalve 19:23b7c1ad8683 905 }
Lightvalve 14:8e7590227d22 906 // double T = 1.0; // wave period
Lightvalve 14:8e7590227d22 907 // I_REF = (5. * sin(2. * 3.1415 * (double) TMR3_COUNT_IREF / (double)TMR_FREQ_5k/ T));
Lightvalve 14:8e7590227d22 908 // I_REF = (2.0 * sin(2. * 2. * 3.14 * (double) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.)));
Lightvalve 19:23b7c1ad8683 909
Lightvalve 14:8e7590227d22 910 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 23:59218d4a256d 911 //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 912 }
Lightvalve 14:8e7590227d22 913 break;
Lightvalve 14:8e7590227d22 914 }
Lightvalve 19:23b7c1ad8683 915
Lightvalve 19:23b7c1ad8683 916 case MODE_TEST_PWM_CONTROL: {
Lightvalve 14:8e7590227d22 917 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 918 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 919 }
Lightvalve 19:23b7c1ad8683 920 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 921
Lightvalve 14:8e7590227d22 922 // Set PWM reference
Lightvalve 14:8e7590227d22 923 double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve 19:23b7c1ad8683 924 //double I_REF_MID = 0.0;
Lightvalve 14:8e7590227d22 925 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 926 CUR_PWM = 1000;
Lightvalve 14:8e7590227d22 927 } else {
Lightvalve 14:8e7590227d22 928 CUR_PWM = -1000;
Lightvalve 19:23b7c1ad8683 929 }
Lightvalve 19:23b7c1ad8683 930
Lightvalve 14:8e7590227d22 931 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 23:59218d4a256d 932 //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 933 }
Lightvalve 13:747daba9cf59 934 break;
Lightvalve 13:747daba9cf59 935 }
Lightvalve 19:23b7c1ad8683 936
Lightvalve 19:23b7c1ad8683 937
Lightvalve 14:8e7590227d22 938 case MODE_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 939
Lightvalve 14:8e7590227d22 940 cur.ref = cur.ref; // Unit : mA
Lightvalve 14:8e7590227d22 941 CurrentControl();
Lightvalve 14:8e7590227d22 942 break;
Lightvalve 14:8e7590227d22 943 }
Lightvalve 19:23b7c1ad8683 944
Lightvalve 14:8e7590227d22 945 case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 14:8e7590227d22 946 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve 14:8e7590227d22 947 double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve 14:8e7590227d22 948 double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 949 double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 950
Lightvalve 14:8e7590227d22 951 // feedback input for position control
Lightvalve 14:8e7590227d22 952 pos.err = pos.ref - pos.sen;
Lightvalve 14:8e7590227d22 953 double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
Lightvalve 14:8e7590227d22 954 double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve 14:8e7590227d22 955 pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 956 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 957 I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve 19:23b7c1ad8683 958
Lightvalve 14:8e7590227d22 959 // feedforward input for position control
Lightvalve 14:8e7590227d22 960 double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 961 double K_ff = 1.3;
Lightvalve 14:8e7590227d22 962 double K_v = 0.0;
Lightvalve 14:8e7590227d22 963 if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 964 if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 965 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 966
Lightvalve 14:8e7590227d22 967 // feedback input for position control
Lightvalve 14:8e7590227d22 968 I_REF_FORCE_FB = 0.0;
Lightvalve 19:23b7c1ad8683 969
Lightvalve 14:8e7590227d22 970 // feedforward input for position control
Lightvalve 14:8e7590227d22 971 I_REF_FORCE_FF = 0.0;
Lightvalve 19:23b7c1ad8683 972
Lightvalve 14:8e7590227d22 973 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 974
Lightvalve 14:8e7590227d22 975 CurrentControl();
Lightvalve 19:23b7c1ad8683 976
Lightvalve 13:747daba9cf59 977 break;
Lightvalve 13:747daba9cf59 978 }
Lightvalve 19:23b7c1ad8683 979
Lightvalve 14:8e7590227d22 980 case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 19:23b7c1ad8683 981 //double T_REF = 0.0; // Torque Reference
Lightvalve 14:8e7590227d22 982 double I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 983 double I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 19:23b7c1ad8683 984
Lightvalve 14:8e7590227d22 985 // feedback input for position control
Lightvalve 19:23b7c1ad8683 986 //double Joint_Pos_Err = 34.0-(double) pos.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 19:23b7c1ad8683 987 //double Joint_Vel_Err = 0.0-(double) vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 19:23b7c1ad8683 988 //double K_spring = 0.7;
Lightvalve 19:23b7c1ad8683 989 //double D_damper = 0.02;
Lightvalve 14:8e7590227d22 990 // T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 19:23b7c1ad8683 991
Lightvalve 14:8e7590227d22 992 // torque feedback
Lightvalve 15:bd0d12728506 993 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 994 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 995 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 996 torq.err_sum = torq.err_sum + torq.err/(double)TMR_FREQ_5k;
Lightvalve 19:23b7c1ad8683 997 I_REF_FORCE_FB = 0.001*((double)P_GAIN_JOINT_TORQUE * torq.err + (double)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 19:23b7c1ad8683 998
Lightvalve 14:8e7590227d22 999 // velocity compensation for torque control
Lightvalve 19:23b7c1ad8683 1000 double Joint_Vel_Act = vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 1001 double K_vc = 1.5; // Velocity comp. gain
Lightvalve 19:23b7c1ad8683 1002 double K_v = 0.0; // Valve gain
Lightvalve 14:8e7590227d22 1003 if(Joint_Vel_Act > 0) K_v = 1.0/100.0; // open, tuning
Lightvalve 14:8e7590227d22 1004 if(Joint_Vel_Act < 0) K_v = 1.0/100.0; // close, tuning
Lightvalve 14:8e7590227d22 1005 I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 19:23b7c1ad8683 1006
Lightvalve 14:8e7590227d22 1007 cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 1008 // cur.ref = I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 1009
Lightvalve 19:23b7c1ad8683 1010 double I_MAX = 10.00; // Maximum Current : 10mV
Lightvalve 14:8e7590227d22 1011 double Ka = 1.0/I_GAIN_JOINT_TORQUE;
Lightvalve 14:8e7590227d22 1012 if(cur.ref > I_MAX) {
Lightvalve 14:8e7590227d22 1013 double I_rem = cur.ref-I_MAX;
Lightvalve 14:8e7590227d22 1014 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 1015 cur.ref = I_MAX;
Lightvalve 14:8e7590227d22 1016 torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 1017 } else if(cur.ref < -I_MAX) {
Lightvalve 14:8e7590227d22 1018 double I_rem = cur.ref-(-I_MAX);
Lightvalve 19:23b7c1ad8683 1019 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 1020 cur.ref = -I_MAX;
Lightvalve 14:8e7590227d22 1021 torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 1022 }
Lightvalve 19:23b7c1ad8683 1023
Lightvalve 14:8e7590227d22 1024 CurrentControl();
Lightvalve 19:23b7c1ad8683 1025
Lightvalve 19:23b7c1ad8683 1026
Lightvalve 14:8e7590227d22 1027 /*
Lightvalve 14:8e7590227d22 1028 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve 14:8e7590227d22 1029 double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve 14:8e7590227d22 1030 double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 1031 double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 1032
Lightvalve 14:8e7590227d22 1033 // feedback input for position control
Lightvalve 14:8e7590227d22 1034 pos.err = pos.ref - pos.sen;
Lightvalve 14:8e7590227d22 1035 double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
Lightvalve 14:8e7590227d22 1036 double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve 14:8e7590227d22 1037 pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 1038 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 1039 I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve 19:23b7c1ad8683 1040
Lightvalve 14:8e7590227d22 1041 // feedforward input for position control
Lightvalve 14:8e7590227d22 1042 double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 1043 double K_ff = 1.3;
Lightvalve 14:8e7590227d22 1044 double K_v = 0.0;
Lightvalve 14:8e7590227d22 1045 if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 1046 if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 1047 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 1048
Lightvalve 14:8e7590227d22 1049 // feedback input for position control
Lightvalve 14:8e7590227d22 1050 I_REF_FORCE_FB = 0.0;
Lightvalve 19:23b7c1ad8683 1051
Lightvalve 14:8e7590227d22 1052 // feedforward input for position control
Lightvalve 14:8e7590227d22 1053 I_REF_FORCE_FF = 0.0;
Lightvalve 19:23b7c1ad8683 1054
Lightvalve 14:8e7590227d22 1055 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 1056
Lightvalve 14:8e7590227d22 1057 CurrentControl();
Lightvalve 14:8e7590227d22 1058 */
Lightvalve 19:23b7c1ad8683 1059
Lightvalve 13:747daba9cf59 1060 break;
Lightvalve 13:747daba9cf59 1061 }
Lightvalve 14:8e7590227d22 1062
Lightvalve 14:8e7590227d22 1063 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1064 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1065 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 1066 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 1067
Lightvalve 14:8e7590227d22 1068 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 13:747daba9cf59 1069 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
Lightvalve 13:747daba9cf59 1070 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 1071
Lightvalve 13:747daba9cf59 1072 TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 1073
Lightvalve 13:747daba9cf59 1074 if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
Lightvalve 13:747daba9cf59 1075 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 19:23b7c1ad8683 1076
Lightvalve 16:903b5a4433b4 1077 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1078
Lightvalve 16:903b5a4433b4 1079 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 16:903b5a4433b4 1080 dac_1 = TORQUE_VREF / 3.3;
Lightvalve 13:747daba9cf59 1081 }
Lightvalve 13:747daba9cf59 1082 } else {
Lightvalve 13:747daba9cf59 1083 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1084 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 1085 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 1086 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 1087
Lightvalve 16:903b5a4433b4 1088 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1089
Lightvalve 16:903b5a4433b4 1090 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 19:23b7c1ad8683 1091
Lightvalve 17:1865016ca2e7 1092 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 16:903b5a4433b4 1093 dac_1 = TORQUE_VREF / 3.3;
Lightvalve 14:8e7590227d22 1094
Lightvalve 13:747daba9cf59 1095 }
Lightvalve 14:8e7590227d22 1096 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 1097 break;
Lightvalve 19:23b7c1ad8683 1098 }
Lightvalve 14:8e7590227d22 1099
Lightvalve 14:8e7590227d22 1100 case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 14:8e7590227d22 1101 if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 13:747daba9cf59 1102 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 1103 else temp_time = 0;
Lightvalve 13:747daba9cf59 1104 }
Lightvalve 13:747daba9cf59 1105 if (need_enc_init) {
Lightvalve 14:8e7590227d22 1106 if (TMR3_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1107 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1108 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1109 } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1110 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1111 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1112 } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 13:747daba9cf59 1113 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 1114 }
Lightvalve 14:8e7590227d22 1115
Lightvalve 14:8e7590227d22 1116 if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1117 V_out = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 1118 VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 14:8e7590227d22 1119
Lightvalve 14:8e7590227d22 1120 } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
Lightvalve 18:b8adf1582ea3 1121 V_out = 0;
Lightvalve 13:747daba9cf59 1122 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 14:8e7590227d22 1123 } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1124 if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 1125 else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 1126 else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 13:747daba9cf59 1127 else DZ_temp_cnt2 = DZ_end;
Lightvalve 13:747daba9cf59 1128 CUR_VELOCITY_sum = 0;
Lightvalve 14:8e7590227d22 1129 } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1130 if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 14:8e7590227d22 1131
Lightvalve 13:747daba9cf59 1132 // Position of Dead Zone
Lightvalve 13:747daba9cf59 1133 // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 14:8e7590227d22 1134 // | / | / |/
Lightvalve 13:747daba9cf59 1135 // | ______/ ___|___/ ______/|
Lightvalve 13:747daba9cf59 1136 // |/ / | / |
Lightvalve 13:747daba9cf59 1137 // /| / | / |
Lightvalve 13:747daba9cf59 1138 // 0V 0V 0V
Lightvalve 14:8e7590227d22 1139
Lightvalve 13:747daba9cf59 1140 if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 14:8e7590227d22 1141 if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 13:747daba9cf59 1142 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 13:747daba9cf59 1143 } else {
Lightvalve 18:b8adf1582ea3 1144 V_out -= DZ_dir;
Lightvalve 13:747daba9cf59 1145 if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 13:747daba9cf59 1146 CUR_VELOCITY_sum = 0;
Lightvalve 13:747daba9cf59 1147 }
Lightvalve 13:747daba9cf59 1148 if (DZ_temp_cnt == 5) {
Lightvalve 18:b8adf1582ea3 1149 if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 18:b8adf1582ea3 1150 else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 13:747daba9cf59 1151 DZ_dir = -DZ_dir;
Lightvalve 13:747daba9cf59 1152 DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 1153 DZ_temp_cnt2++;
Lightvalve 13:747daba9cf59 1154 }
Lightvalve 13:747daba9cf59 1155 } else {
Lightvalve 14:8e7590227d22 1156 TMR3_COUNT_DEADZONE = -1;
Lightvalve 13:747daba9cf59 1157 VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 13:747daba9cf59 1158 if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 13:747daba9cf59 1159 VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 1160 VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 1161 }
Lightvalve 18:b8adf1582ea3 1162 V_out = 0;
Lightvalve 19:23b7c1ad8683 1163
Lightvalve 16:903b5a4433b4 1164 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1165
Lightvalve 16:903b5a4433b4 1166 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 16:903b5a4433b4 1167 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 14:8e7590227d22 1168
Lightvalve 13:747daba9cf59 1169 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1170 DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 1171 }
Lightvalve 13:747daba9cf59 1172 }
Lightvalve 14:8e7590227d22 1173 TMR3_COUNT_DEADZONE++;
Lightvalve 13:747daba9cf59 1174 break;
Lightvalve 13:747daba9cf59 1175 }
Lightvalve 14:8e7590227d22 1176
Lightvalve 14:8e7590227d22 1177 case MODE_FIND_HOME: {
Lightvalve 19:23b7c1ad8683 1178
Lightvalve 19:23b7c1ad8683 1179
Lightvalve 14:8e7590227d22 1180 ////////////////////////////////////////////FIND_HOME_PWM/////////////////////////////////////////////////////
Lightvalve 14:8e7590227d22 1181 if (FLAG_FIND_HOME == true) {
Lightvalve 14:8e7590227d22 1182 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1183 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1184 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 14:8e7590227d22 1185 pos.ref = pos.sen;
Lightvalve 14:8e7590227d22 1186 FLAG_FIND_HOME = false;
Lightvalve 14:8e7590227d22 1187 }
Lightvalve 14:8e7590227d22 1188
Lightvalve 14:8e7590227d22 1189 int check_enc = (TMR_FREQ_5k/10);
Lightvalve 14:8e7590227d22 1190 if(cnt_findhome%check_enc == 0) {
Lightvalve 14:8e7590227d22 1191 FINDHOME_POSITION = pos.sen;
Lightvalve 14:8e7590227d22 1192 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 14:8e7590227d22 1193 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 14:8e7590227d22 1194 }
Lightvalve 14:8e7590227d22 1195 cnt_findhome++;
Lightvalve 14:8e7590227d22 1196 if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1197
Lightvalve 14:8e7590227d22 1198 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 14:8e7590227d22 1199 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 14:8e7590227d22 1200 } else {
Lightvalve 14:8e7590227d22 1201 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1202 }
Lightvalve 14:8e7590227d22 1203
Lightvalve 14:8e7590227d22 1204 if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1205 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 14:8e7590227d22 1206 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 1.0;
Lightvalve 14:8e7590227d22 1207 else pos.ref = pos.ref - 1.0;
Lightvalve 14:8e7590227d22 1208 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 1209 V_out = ((double) P_GAIN_JOINT_POSITION * pos.err) * 0.01;
Lightvalve 18:b8adf1582ea3 1210 // if (HOMEPOS_OFFSET > 0) V_out = 100;
Lightvalve 18:b8adf1582ea3 1211 // else V_out = -100;
Lightvalve 14:8e7590227d22 1212 } else {
Lightvalve 14:8e7590227d22 1213 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 14:8e7590227d22 1214 FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve 14:8e7590227d22 1215 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 14:8e7590227d22 1216 REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 1217 TMR3_COUNT_REFERENCE = 0;
Lightvalve 14:8e7590227d22 1218 vel.ref = 0.0;
Lightvalve 14:8e7590227d22 1219 //REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve 14:8e7590227d22 1220 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;
Lightvalve 14:8e7590227d22 1221
Lightvalve 14:8e7590227d22 1222 FINDHOME_POSITION = 0;
Lightvalve 14:8e7590227d22 1223 FINDHOME_POSITION_OLD = 0;
Lightvalve 14:8e7590227d22 1224 FINDHOME_VELOCITY = 0;
Lightvalve 14:8e7590227d22 1225 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1226 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1227 }
Lightvalve 19:23b7c1ad8683 1228
Lightvalve 14:8e7590227d22 1229 /*
Lightvalve 14:8e7590227d22 1230 ////////////////////////////////////////////FIND_HOME_CURRENT/////////////////////////////////////////////////////
Lightvalve 13:747daba9cf59 1231 if (FLAG_FIND_HOME == true) {
Lightvalve 13:747daba9cf59 1232 cnt_findhome = 0;
Lightvalve 13:747daba9cf59 1233 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 1234 REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 14:8e7590227d22 1235 Ref_Joint_Pos = pos.sen;
Lightvalve 13:747daba9cf59 1236 FLAG_FIND_HOME = false;
Lightvalve 13:747daba9cf59 1237 }
Lightvalve 19:23b7c1ad8683 1238
Lightvalve 14:8e7590227d22 1239 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 14:8e7590227d22 1240 if(cnt_findhome%cnt_check_enc == 0){
Lightvalve 14:8e7590227d22 1241 FINDHOME_POSITION = pos.sen;
Lightvalve 13:747daba9cf59 1242 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 13:747daba9cf59 1243 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 13:747daba9cf59 1244 } cnt_findhome++;
Lightvalve 13:747daba9cf59 1245 if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve 19:23b7c1ad8683 1246
Lightvalve 13:747daba9cf59 1247 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 13:747daba9cf59 1248 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 13:747daba9cf59 1249 } else {
Lightvalve 13:747daba9cf59 1250 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 1251 }
Lightvalve 19:23b7c1ad8683 1252
Lightvalve 14:8e7590227d22 1253 if (cnt_vel_findhome < 3*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 13:747daba9cf59 1254 REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 13:747daba9cf59 1255 if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
Lightvalve 13:747daba9cf59 1256 else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
Lightvalve 14:8e7590227d22 1257 pos.err = Ref_Joint_Pos - pos.sen;
Lightvalve 19:23b7c1ad8683 1258 I_REF = 0.001*((double)pos.err);
Lightvalve 14:8e7590227d22 1259 if(I_REF>5.0) I_REF = 5.0;
Lightvalve 14:8e7590227d22 1260 if(I_REF<-5.0) I_REF = -5.0;
Lightvalve 14:8e7590227d22 1261 cur.ref = I_REF;
Lightvalve 14:8e7590227d22 1262 CurrentControl();
Lightvalve 13:747daba9cf59 1263 } else {
Lightvalve 13:747daba9cf59 1264 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 13:747daba9cf59 1265 FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve 13:747daba9cf59 1266 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 13:747daba9cf59 1267 REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 1268 TMR3_COUNT_REFERENCE = 0;
Lightvalve 13:747daba9cf59 1269 Ref_Joint_Vel = 0.0;
Lightvalve 13:747daba9cf59 1270 REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve 14:8e7590227d22 1271 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 1272
Lightvalve 13:747daba9cf59 1273 FINDHOME_POSITION = 0;
Lightvalve 13:747daba9cf59 1274 FINDHOME_POSITION_OLD = 0;
Lightvalve 13:747daba9cf59 1275 FINDHOME_VELOCITY = 0;
Lightvalve 13:747daba9cf59 1276 cnt_findhome = 0;
Lightvalve 13:747daba9cf59 1277 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 1278 }
Lightvalve 14:8e7590227d22 1279 */
Lightvalve 19:23b7c1ad8683 1280
Lightvalve 13:747daba9cf59 1281 break;
Lightvalve 13:747daba9cf59 1282 }
Lightvalve 14:8e7590227d22 1283
Lightvalve 14:8e7590227d22 1284 case MODE_VALVE_GAIN_SETTING: {
Lightvalve 14:8e7590227d22 1285 if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 13:747daba9cf59 1286 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 1287 else {
Lightvalve 18:b8adf1582ea3 1288 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 13:747daba9cf59 1289 temp_time = (int) (0.5 * (double) TMR_FREQ_5k);
Lightvalve 13:747daba9cf59 1290 }
Lightvalve 13:747daba9cf59 1291 }
Lightvalve 13:747daba9cf59 1292 if (need_enc_init) {
Lightvalve 14:8e7590227d22 1293 if (TMR3_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1294 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1295 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1296 } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1297 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1298 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1299 } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1300 need_enc_init = false;
Lightvalve 13:747daba9cf59 1301 check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1302 check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1303 check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 13:747daba9cf59 1304 }
Lightvalve 13:747daba9cf59 1305 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 1306 }
Lightvalve 14:8e7590227d22 1307 TMR3_COUNT_FLOWRATE++;
Lightvalve 14:8e7590227d22 1308 if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 13:747daba9cf59 1309 if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 18:b8adf1582ea3 1310 VALVE_VOLTAGE = 1000.0 * (double) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1311 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1312 if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1313 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1314 } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 13:747daba9cf59 1315 VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 13:747daba9cf59 1316 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 13:747daba9cf59 1317 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1318 }
Lightvalve 13:747daba9cf59 1319 } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 13:747daba9cf59 1320 VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1321 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1322 if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1323 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1324 } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 13:747daba9cf59 1325 VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 13:747daba9cf59 1326 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 13:747daba9cf59 1327 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1328 }
Lightvalve 13:747daba9cf59 1329 }
Lightvalve 13:747daba9cf59 1330 if (fl_temp_cnt2 == 100) {
Lightvalve 19:23b7c1ad8683 1331
Lightvalve 16:903b5a4433b4 1332 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1333
Lightvalve 16:903b5a4433b4 1334 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
Lightvalve 13:747daba9cf59 1335 cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 1336 fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 1337 fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 1338 flag_flowrate++;
Lightvalve 13:747daba9cf59 1339 }
Lightvalve 13:747daba9cf59 1340 if (flag_flowrate == 10) {
Lightvalve 18:b8adf1582ea3 1341 V_out = 0;
Lightvalve 13:747daba9cf59 1342 flag_flowrate = 0;
Lightvalve 14:8e7590227d22 1343 TMR3_COUNT_FLOWRATE = 0;
Lightvalve 13:747daba9cf59 1344 valve_gain_repeat_cnt++;
Lightvalve 13:747daba9cf59 1345 if (valve_gain_repeat_cnt >= 1) {
Lightvalve 13:747daba9cf59 1346 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1347 valve_gain_repeat_cnt = 0;
Lightvalve 13:747daba9cf59 1348 }
Lightvalve 14:8e7590227d22 1349
Lightvalve 13:747daba9cf59 1350 }
Lightvalve 13:747daba9cf59 1351 break;
Lightvalve 13:747daba9cf59 1352 }
Lightvalve 14:8e7590227d22 1353
Lightvalve 13:747daba9cf59 1354 }
Lightvalve 14:8e7590227d22 1355
Lightvalve 14:8e7590227d22 1356 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1357 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1358 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1359 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1360 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1361
Lightvalve 14:8e7590227d22 1362 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 13:747daba9cf59 1363 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0;
Lightvalve 13:747daba9cf59 1364 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0;
Lightvalve 13:747daba9cf59 1365 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1366 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1367
Lightvalve 16:903b5a4433b4 1368 double VREF_NullingGain = 0.003;
Lightvalve 13:747daba9cf59 1369 PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 13:747daba9cf59 1370 PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1371
Lightvalve 13:747daba9cf59 1372 if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3;
Lightvalve 13:747daba9cf59 1373 if (PRES_A_VREF < 0) PRES_A_VREF = 0;
Lightvalve 13:747daba9cf59 1374 if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
Lightvalve 13:747daba9cf59 1375 if (PRES_B_VREF < 0) PRES_B_VREF = 0;
Lightvalve 19:23b7c1ad8683 1376
Lightvalve 16:903b5a4433b4 1377 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 16:903b5a4433b4 1378 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 13:747daba9cf59 1379 }
Lightvalve 13:747daba9cf59 1380 } else {
Lightvalve 13:747daba9cf59 1381 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1382 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1383 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1384 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1385 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1386 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1387
Lightvalve 16:903b5a4433b4 1388 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1389
Lightvalve 15:bd0d12728506 1390 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 15:bd0d12728506 1391 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 17:1865016ca2e7 1392 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1393 }
Lightvalve 14:8e7590227d22 1394 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1395 break;
Lightvalve 13:747daba9cf59 1396 }
Lightvalve 14:8e7590227d22 1397
Lightvalve 14:8e7590227d22 1398 case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 14:8e7590227d22 1399 if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1400 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1401 if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1402 CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 13:747daba9cf59 1403 }
Lightvalve 14:8e7590227d22 1404 } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1405 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1406 if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1407 CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 13:747daba9cf59 1408 }
Lightvalve 13:747daba9cf59 1409 } else {
Lightvalve 13:747daba9cf59 1410 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1411 TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 18:b8adf1582ea3 1412 V_out = 0;
Lightvalve 18:b8adf1582ea3 1413 PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_A_NULL;
Lightvalve 18:b8adf1582ea3 1414 PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0);
Lightvalve 18:b8adf1582ea3 1415 PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_B_NULL;
Lightvalve 18:b8adf1582ea3 1416 PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0);
Lightvalve 13:747daba9cf59 1417 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1418 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1419 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1420 CUR_PRES_B_mean = 0;
Lightvalve 19:23b7c1ad8683 1421
Lightvalve 16:903b5a4433b4 1422 ROM_RESET_DATA();
Lightvalve 14:8e7590227d22 1423
Lightvalve 16:903b5a4433b4 1424 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
Lightvalve 16:903b5a4433b4 1425 //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
Lightvalve 13:747daba9cf59 1426 }
Lightvalve 14:8e7590227d22 1427 TMR3_COUNT_PRES_CALIB++;
Lightvalve 13:747daba9cf59 1428 break;
Lightvalve 13:747daba9cf59 1429 }
Lightvalve 14:8e7590227d22 1430
Lightvalve 14:8e7590227d22 1431 case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 14:8e7590227d22 1432 if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
Lightvalve 18:b8adf1582ea3 1433 V_out = PWM_out * sin(2 * 3.14159 * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001);
Lightvalve 18:b8adf1582ea3 1434 if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 18:b8adf1582ea3 1435 else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1436 TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 14:8e7590227d22 1437 if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1438 TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 17:1865016ca2e7 1439 V_out = 0;
Lightvalve 13:747daba9cf59 1440 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1441 }
Lightvalve 13:747daba9cf59 1442 break;
Lightvalve 13:747daba9cf59 1443 }
Lightvalve 14:8e7590227d22 1444
Lightvalve 14:8e7590227d22 1445 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1446 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1447
Lightvalve 14:8e7590227d22 1448 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 18:b8adf1582ea3 1449 V_out = 3000.0 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100.0);
Lightvalve 14:8e7590227d22 1450 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 18:b8adf1582ea3 1451 V_out = 1000.0*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1452 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1453 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1454 data_num = 0;
Lightvalve 14:8e7590227d22 1455 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1456 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1457 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1458 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1459 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1460 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1461 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1462 }
Lightvalve 14:8e7590227d22 1463
Lightvalve 17:1865016ca2e7 1464 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1465 int i;
Lightvalve 13:747daba9cf59 1466 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1467 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1468 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1469 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1470 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1471 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1472 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1473 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1474 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1475 }
Lightvalve 13:747daba9cf59 1476 }
Lightvalve 16:903b5a4433b4 1477 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1478 ID_index = 0;
Lightvalve 13:747daba9cf59 1479 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1480 }
Lightvalve 14:8e7590227d22 1481
Lightvalve 14:8e7590227d22 1482
Lightvalve 13:747daba9cf59 1483 break;
Lightvalve 13:747daba9cf59 1484 }
Lightvalve 14:8e7590227d22 1485
Lightvalve 14:8e7590227d22 1486 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1487
Lightvalve 13:747daba9cf59 1488 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1489 if(first_check == 0) {
Lightvalve 14:8e7590227d22 1490 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1491 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1492 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1493 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1494 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1495 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1496 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1497 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1498 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1499 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1500 } else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1501 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1502 } else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1503 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 1504 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1505 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1506 } else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1507 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 1508 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1509 START_POS = pos.sen;
Lightvalve 23:59218d4a256d 1510 //CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve 13:747daba9cf59 1511 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1512 data_num = 0;
Lightvalve 14:8e7590227d22 1513
Lightvalve 14:8e7590227d22 1514 } else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1515 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1516 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1517 //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 14:8e7590227d22 1518
Lightvalve 14:8e7590227d22 1519 } else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1520 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1521 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1522 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1523 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1524 else
Lightvalve 13:747daba9cf59 1525 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1526 } else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1527 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1528 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1529 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1530 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1531 // {
Lightvalve 14:8e7590227d22 1532 // DZ_case = 1;
Lightvalve 14:8e7590227d22 1533 // }
Lightvalve 14:8e7590227d22 1534 // else
Lightvalve 14:8e7590227d22 1535 // {
Lightvalve 14:8e7590227d22 1536 // DZ_case = -1;
Lightvalve 14:8e7590227d22 1537 // }
Lightvalve 14:8e7590227d22 1538 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1539 // {
Lightvalve 14:8e7590227d22 1540 // DZ_case = 0;
Lightvalve 14:8e7590227d22 1541 // }
Lightvalve 14:8e7590227d22 1542
Lightvalve 14:8e7590227d22 1543 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1544 DZ_case = 1;
Lightvalve 14:8e7590227d22 1545 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1546 DZ_case = -1;
Lightvalve 14:8e7590227d22 1547 } else {
Lightvalve 13:747daba9cf59 1548 DZ_case = 0;
Lightvalve 13:747daba9cf59 1549 }
Lightvalve 14:8e7590227d22 1550
Lightvalve 14:8e7590227d22 1551 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1552 first_check = 1;
Lightvalve 13:747daba9cf59 1553 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1554 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1555 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1556 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1557 DZ_index = 1;
Lightvalve 18:b8adf1582ea3 1558 //CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve 14:8e7590227d22 1559
Lightvalve 13:747daba9cf59 1560 }
Lightvalve 19:23b7c1ad8683 1561 } else {
Lightvalve 14:8e7590227d22 1562 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 14:8e7590227d22 1563 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1564 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1565 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1566 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1567 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1568 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1569 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1570 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1571 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1572 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1573 }
Lightvalve 14:8e7590227d22 1574 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1575 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1576 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1577 else
Lightvalve 13:747daba9cf59 1578 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1579 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1580 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1581 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1582 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1583 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1584 // else
Lightvalve 14:8e7590227d22 1585 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1586 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1587 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1588
Lightvalve 14:8e7590227d22 1589 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1590 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1591 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1592 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1593 } else {
Lightvalve 13:747daba9cf59 1594 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1595 }
Lightvalve 14:8e7590227d22 1596
Lightvalve 14:8e7590227d22 1597 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1598
Lightvalve 13:747daba9cf59 1599 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1600 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1601 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1602 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1603 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1604 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1605 DZ_index = 1;
Lightvalve 13:747daba9cf59 1606 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1607 }
Lightvalve 14:8e7590227d22 1608
Lightvalve 13:747daba9cf59 1609 //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1610 }
Lightvalve 14:8e7590227d22 1611 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 14:8e7590227d22 1612 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1613 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1614 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1615 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1616 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1617 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1618 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1619 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1620 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1621 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1622 }
Lightvalve 14:8e7590227d22 1623 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1624 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1625 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1626 else
Lightvalve 13:747daba9cf59 1627 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1628 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1629 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1630 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1631 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1632 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1633 // else
Lightvalve 14:8e7590227d22 1634 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1635 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1636 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1637
Lightvalve 14:8e7590227d22 1638 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1639 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1640 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1641 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1642 } else {
Lightvalve 13:747daba9cf59 1643 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1644 }
Lightvalve 14:8e7590227d22 1645
Lightvalve 14:8e7590227d22 1646 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1647
Lightvalve 14:8e7590227d22 1648
Lightvalve 13:747daba9cf59 1649 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1650 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1651 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1652 SECOND_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1653 DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1654 first_check = 0;
Lightvalve 19:23b7c1ad8683 1655 VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve 19:23b7c1ad8683 1656 VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1657
Lightvalve 16:903b5a4433b4 1658 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1659
Lightvalve 16:903b5a4433b4 1660 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve 16:903b5a4433b4 1661 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve 18:b8adf1582ea3 1662 //spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
Lightvalve 13:747daba9cf59 1663 //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve 13:747daba9cf59 1664 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1665 DZ_index = 1;
Lightvalve 13:747daba9cf59 1666 }
Lightvalve 14:8e7590227d22 1667
Lightvalve 23:59218d4a256d 1668 //CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1669 }
Lightvalve 14:8e7590227d22 1670 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 14:8e7590227d22 1671 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1672 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1673 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1674 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1675 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1676 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1677 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1678 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1679 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1680 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1681 }
Lightvalve 14:8e7590227d22 1682 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1683 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1684 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1685 else
Lightvalve 13:747daba9cf59 1686 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1687 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1688 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1689 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1690 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1691 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1692 // else
Lightvalve 14:8e7590227d22 1693 // DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1694 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1695 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1696
Lightvalve 14:8e7590227d22 1697 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1698 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1699 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1700 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1701 } else {
Lightvalve 13:747daba9cf59 1702 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1703 }
Lightvalve 14:8e7590227d22 1704
Lightvalve 14:8e7590227d22 1705 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1706 //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve 13:747daba9cf59 1707 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1708 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1709 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1710 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1711 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1712 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1713 DZ_index = 1;
Lightvalve 13:747daba9cf59 1714 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1715 }
Lightvalve 13:747daba9cf59 1716 }
Lightvalve 14:8e7590227d22 1717 } else {
Lightvalve 14:8e7590227d22 1718 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1719 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1720 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1721 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1722 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1723 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1724 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1725 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1726 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1727 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1728 }
Lightvalve 14:8e7590227d22 1729 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1730 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1731 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1732 else
Lightvalve 13:747daba9cf59 1733 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1734 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1735 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1736 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1737 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1738 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1739 else
Lightvalve 13:747daba9cf59 1740 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1741 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1742 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1743
Lightvalve 14:8e7590227d22 1744 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1745
Lightvalve 14:8e7590227d22 1746
Lightvalve 13:747daba9cf59 1747 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1748 //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1749 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1750 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1751 SECOND_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1752 DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1753 first_check = 0;
Lightvalve 13:747daba9cf59 1754 VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve 16:903b5a4433b4 1755 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve 13:747daba9cf59 1756 VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve 16:903b5a4433b4 1757 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1758
Lightvalve 16:903b5a4433b4 1759 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve 18:b8adf1582ea3 1760 //spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
Lightvalve 23:59218d4a256d 1761 //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve 13:747daba9cf59 1762 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1763 DZ_index = 1;
Lightvalve 13:747daba9cf59 1764 }
Lightvalve 14:8e7590227d22 1765
Lightvalve 13:747daba9cf59 1766 //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1767 }
Lightvalve 13:747daba9cf59 1768 }
Lightvalve 14:8e7590227d22 1769 }
Lightvalve 13:747daba9cf59 1770 break;
Lightvalve 13:747daba9cf59 1771 }
Lightvalve 14:8e7590227d22 1772
Lightvalve 14:8e7590227d22 1773 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1774 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1775 if(first_check == 0) {
Lightvalve 14:8e7590227d22 1776 if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1777 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 23:59218d4a256d 1778 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 14:8e7590227d22 1779 } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1780 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1781 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1782 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 14:8e7590227d22 1783 } else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1784 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1785 } else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1786 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 18:b8adf1582ea3 1787 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1788 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1789 first_check = 1;
Lightvalve 13:747daba9cf59 1790 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1791 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1792 ID_index = 0;
Lightvalve 13:747daba9cf59 1793 max_check = 0;
Lightvalve 13:747daba9cf59 1794 min_check = 0;
Lightvalve 13:747daba9cf59 1795 }
Lightvalve 14:8e7590227d22 1796 } else {
Lightvalve 14:8e7590227d22 1797 if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1798 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1799 } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1800 data_num = 0;
Lightvalve 19:23b7c1ad8683 1801 valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1802
Lightvalve 14:8e7590227d22 1803 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1804 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1805 } else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 19:23b7c1ad8683 1806 valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1807 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1808 data_num = data_num + 1;
Lightvalve 19:23b7c1ad8683 1809 if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen) > 20000.0) {
Lightvalve 14:8e7590227d22 1810 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1811 one_period_end = 1;
Lightvalve 13:747daba9cf59 1812 }
Lightvalve 14:8e7590227d22 1813 } else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1814 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1815 one_period_end = 1;
Lightvalve 13:747daba9cf59 1816 }
Lightvalve 14:8e7590227d22 1817
Lightvalve 14:8e7590227d22 1818 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1819 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1820 max_check = 1;
Lightvalve 14:8e7590227d22 1821 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1822 min_check = 1;
Lightvalve 13:747daba9cf59 1823 }
Lightvalve 13:747daba9cf59 1824 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1825
Lightvalve 19:23b7c1ad8683 1826 //ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1827
Lightvalve 16:903b5a4433b4 1828 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 16:903b5a4433b4 1829 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve 13:747daba9cf59 1830 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1831 one_period_end = 0;
Lightvalve 13:747daba9cf59 1832 ID_index= ID_index +1;
Lightvalve 14:8e7590227d22 1833 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve 19:23b7c1ad8683 1834 V_out = 0.0;
Lightvalve 13:747daba9cf59 1835 }
Lightvalve 14:8e7590227d22 1836
Lightvalve 14:8e7590227d22 1837 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1838
Lightvalve 16:903b5a4433b4 1839 //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1840 VALVE_POS_NUM = ID_index;
Lightvalve 19:23b7c1ad8683 1841 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1842 ID_index = 0;
Lightvalve 13:747daba9cf59 1843 first_check = 0;
Lightvalve 13:747daba9cf59 1844 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1845 // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve 13:747daba9cf59 1846 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1847 }
Lightvalve 13:747daba9cf59 1848 }
Lightvalve 13:747daba9cf59 1849 break;
Lightvalve 13:747daba9cf59 1850 }
Lightvalve 14:8e7590227d22 1851
Lightvalve 12:6f2531038ea4 1852 default:
Lightvalve 12:6f2531038ea4 1853 break;
Lightvalve 12:6f2531038ea4 1854 }
Lightvalve 14:8e7590227d22 1855
Lightvalve 13:747daba9cf59 1856 if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 13:747daba9cf59 1857 // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 14:8e7590227d22 1858 // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 14:8e7590227d22 1859 // if (V_out > 0.) {
Lightvalve 14:8e7590227d22 1860 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1861 // } else if (V_out < 0.) {
Lightvalve 14:8e7590227d22 1862 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1863 // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1864 // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 14:8e7590227d22 1865
Lightvalve 14:8e7590227d22 1866 if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1867 else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1868
Lightvalve 14:8e7590227d22 1869 VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1870
Lightvalve 13:747daba9cf59 1871 // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 18:b8adf1582ea3 1872 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0*1000.0; // convert PWM duty to mV
Lightvalve 13:747daba9cf59 1873 double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 14:8e7590227d22 1874
Lightvalve 14:8e7590227d22 1875 if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 14:8e7590227d22 1876 else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 14:8e7590227d22 1877 else V_out = CUR_PWM_DZ;
Lightvalve 13:747daba9cf59 1878 } else {
Lightvalve 17:1865016ca2e7 1879 V_out = V_out;
Lightvalve 13:747daba9cf59 1880 }
Lightvalve 14:8e7590227d22 1881
jsoh91 25:f83396e3d25c 1882
jsoh91 25:f83396e3d25c 1883 iq = cur.sen*0.001;
jsoh91 25:f83396e3d25c 1884 iq_err_sum += i_ref(0,0) - iq;
jsoh91 25:f83396e3d25c 1885 X_state(0,0) = iq_err_sum;
jsoh91 25:f83396e3d25c 1886 X_state(1,0) = iq;
jsoh91 25:f83396e3d25c 1887
jsoh91 25:f83396e3d25c 1888 for (int i=0; i<10; i++) {
jsoh91 25:f83396e3d25c 1889 w0_a(i*2,0) = i_ref(i,0);
jsoh91 25:f83396e3d25c 1890 w0_a(i*2+1,0) = 0.0;
jsoh91 25:f83396e3d25c 1891
jsoh91 25:f83396e3d25c 1892 ref_a(i*2,0) = 0.0;
jsoh91 25:f83396e3d25c 1893 ref_a(i*2+1,0) = i_ref(i,0);
jsoh91 25:f83396e3d25c 1894 }
jsoh91 25:f83396e3d25c 1895
jsoh91 25:f83396e3d25c 1896 Bt = ref_a - Aa*X_state - Ga*w0_a;
jsoh91 25:f83396e3d25c 1897 At = Ba;
jsoh91 25:f83396e3d25c 1898
jsoh91 25:f83396e3d25c 1899
jsoh91 25:f83396e3d25c 1900 H = At.transpose() * Q * At + R;
jsoh91 25:f83396e3d25c 1901 F = -At.transpose()*Bt;
jsoh91 25:f83396e3d25c 1902
jsoh91 25:f83396e3d25c 1903 js_qp.setNums(10,0,20);
jsoh91 25:f83396e3d25c 1904
jsoh91 25:f83396e3d25c 1905 js_qp.make_HF(H,F,1);
jsoh91 25:f83396e3d25c 1906 js_qp.make_IEQ(Aieq,bieq);
jsoh91 25:f83396e3d25c 1907
jsoh91 25:f83396e3d25c 1908
jsoh91 25:f83396e3d25c 1909
jsoh91 25:f83396e3d25c 1910 out = js_qp.solve_QP();
jsoh91 25:f83396e3d25c 1911 V_out = out(0,0) * 1000.0;
jsoh91 25:f83396e3d25c 1912
jobuuu 7:e9086c72bb22 1913 /*******************************************************
jobuuu 7:e9086c72bb22 1914 *** PWM
jobuuu 7:e9086c72bb22 1915 ********************************************************/
Lightvalve 18:b8adf1582ea3 1916 PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1917
jobuuu 2:a1c0a37df760 1918 // Saturation of output voltage to 5.0V
Lightvalve 17:1865016ca2e7 1919 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 17:1865016ca2e7 1920 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 19:23b7c1ad8683 1921
Lightvalve 19:23b7c1ad8683 1922 // Saturation of output voltage to 12.0V
Lightvalve 17:1865016ca2e7 1923 if(PWM_out > 1.0) PWM_out=1.0;
Lightvalve 17:1865016ca2e7 1924 else if (PWM_out < -1.0) PWM_out=-1.0;
Lightvalve 13:747daba9cf59 1925
jobuuu 2:a1c0a37df760 1926 if (PWM_out>0.0) {
jobuuu 2:a1c0a37df760 1927 dtc_v=0.0;
jobuuu 1:e04e563be5ce 1928 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1929 } else {
jobuuu 2:a1c0a37df760 1930 dtc_v=-PWM_out;
jobuuu 2:a1c0a37df760 1931 dtc_w=0.0;
jobuuu 1:e04e563be5ce 1932 }
Lightvalve 13:747daba9cf59 1933
jobuuu 1:e04e563be5ce 1934 //pwm
jobuuu 2:a1c0a37df760 1935 TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
jobuuu 2:a1c0a37df760 1936 TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);
Lightvalve 13:747daba9cf59 1937
jsoh91 25:f83396e3d25c 1938
jsoh91 25:f83396e3d25c 1939
jsoh91 25:f83396e3d25c 1940 CAN_TX_POSITION((int32_t) V_out, (int32_t) (cur.sen * 10.0));
jobuuu 1:e04e563be5ce 1941 }
Lightvalve 11:82d8768d7351 1942 TIM3->SR = 0x0; // reset the status register
Lightvalve 21:e5f1a43ea6f9 1943
jobuuu 7:e9086c72bb22 1944 }
jobuuu 7:e9086c72bb22 1945
Lightvalve 20:806196fda269 1946
Lightvalve 20:806196fda269 1947
Lightvalve 20:806196fda269 1948 //unsigned long CNT_TMR5 = 0;
Lightvalve 20:806196fda269 1949 //double FREQ_TMR5 = (double)FREQ_500;
Lightvalve 20:806196fda269 1950 //double DT_TMR5 = (double)DT_500;
Lightvalve 23:59218d4a256d 1951 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1952 {
Lightvalve 23:59218d4a256d 1953 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1954
Lightvalve 20:806196fda269 1955 //CAN ----------------------------------------------------------------------
Lightvalve 20:806196fda269 1956 if (flag_data_request[0] == HIGH) {
Lightvalve 20:806196fda269 1957 //position+velocity
jsoh91 25:f83396e3d25c 1958 //CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
jsoh91 25:f83396e3d25c 1959 CAN_TX_POSITION((int32_t) V_out, (int32_t) cur.sen);
Lightvalve 20:806196fda269 1960 //CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
Lightvalve 20:806196fda269 1961 //CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
Lightvalve 20:806196fda269 1962 //pc.printf("can good");
Lightvalve 20:806196fda269 1963 // CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve 20:806196fda269 1964 }
Lightvalve 20:806196fda269 1965
Lightvalve 20:806196fda269 1966 if (flag_data_request[1] == HIGH) {
Lightvalve 20:806196fda269 1967 //torque
Lightvalve 20:806196fda269 1968 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve 20:806196fda269 1969 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve 20:806196fda269 1970 CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve 20:806196fda269 1971 //CAN_TX_TORQUE((int16_t) (Ref_Valve_Pos_FF_CAN));
Lightvalve 20:806196fda269 1972 // CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve 20:806196fda269 1973 }
Lightvalve 20:806196fda269 1974
Lightvalve 20:806196fda269 1975 if (flag_data_request[2] == HIGH) {
Lightvalve 20:806196fda269 1976 //pressure A and B
Lightvalve 20:806196fda269 1977 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1978 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1979 // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 20:806196fda269 1980 // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1981 // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1982
Lightvalve 20:806196fda269 1983 }
Lightvalve 20:806196fda269 1984
Lightvalve 20:806196fda269 1985 if (flag_data_request[3] == HIGH) {
Lightvalve 20:806196fda269 1986 //PWM
Lightvalve 20:806196fda269 1987 CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve 20:806196fda269 1988 //CAN_TX_PWM((int16_t) (Ref_Valve_Pos_FF_CAN));
Lightvalve 20:806196fda269 1989 // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 20:806196fda269 1990 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 20:806196fda269 1991 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 20:806196fda269 1992
Lightvalve 20:806196fda269 1993 }
Lightvalve 20:806196fda269 1994
Lightvalve 20:806196fda269 1995 if (flag_data_request[4] == HIGH) {
Lightvalve 20:806196fda269 1996 //valve position
Lightvalve 20:806196fda269 1997 CAN_TX_VALVE_POSITION((int16_t) (value));
Lightvalve 20:806196fda269 1998 //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 20:806196fda269 1999 //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
Lightvalve 20:806196fda269 2000
Lightvalve 20:806196fda269 2001
Lightvalve 20:806196fda269 2002 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 20:806196fda269 2003 // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 20:806196fda269 2004 // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 20:806196fda269 2005 // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 20:806196fda269 2006 // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 20:806196fda269 2007 }
Lightvalve 20:806196fda269 2008
Lightvalve 20:806196fda269 2009 }
Lightvalve 23:59218d4a256d 2010 TIM2->SR = 0x0; // reset the status register
Lightvalve 20:806196fda269 2011 }
Lightvalve 20:806196fda269 2012
Lightvalve 20:806196fda269 2013
Lightvalve 13:747daba9cf59 2014 void CurrentControl()
Lightvalve 13:747daba9cf59 2015 {
jobuuu 7:e9086c72bb22 2016 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 2017 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 2018 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 2019 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 2020
jobuuu 7:e9086c72bb22 2021 double R_model = 150.0; // ohm
jobuuu 7:e9086c72bb22 2022 double L_model = 0.3;
jobuuu 7:e9086c72bb22 2023 double w0 = 2.0*3.14*90.0;
jobuuu 7:e9086c72bb22 2024 double KP_I = L_model*w0;
jobuuu 7:e9086c72bb22 2025 double KI_I = R_model*w0;
jobuuu 7:e9086c72bb22 2026 double KD_I = 0.0;
jobuuu 7:e9086c72bb22 2027
jobuuu 7:e9086c72bb22 2028 double FF_gain = 0.0;
jobuuu 7:e9086c72bb22 2029 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 2030 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 2031 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 2032
Lightvalve 13:747daba9cf59 2033 double Ka = 5.0/KP_I;
jobuuu 7:e9086c72bb22 2034 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 2035 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 2036 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 2037 V_out = V_MAX;
jobuuu 7:e9086c72bb22 2038 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 2039 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 2040 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 2041 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 2042 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 2043 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 2044 }
Lightvalve 21:e5f1a43ea6f9 2045 }
Lightvalve 23:59218d4a256d 2046