A.I.Mergence / Mbed OS mbed-perceptron-2

évitement d obstacles

Dependencies:   Motor 16_Channel_Analog VL53L0X

main.cpp

Committer:
sylvaingauthier
Date:
2020-07-17
Revision:
1:53b992a47b28
Parent:
0:324dc73a5829
Child:
2:f3ca81bbfabf

File content as of revision 1:53b992a47b28:

/* mbed Microcontroller Library
 * Copyright (c) 2019 ARM Limited
 * SPDX-License-Identifier: Apache-2.0
 */

#include "mbed.h"
#include "perceptron.h"
#include "Motor.h"
#include <vector>
#include <iostream>
#include <stdio.h>

int main()
{
    Motor m1(D8, D9, D10); // pwm, fwd, rev
    Motor m2(D3, D4, D5); // pwm, fwd, rev
    
    printf("debut\r\n");
    vector<float> Wg = {1,1,-1,-1};
    perceptron perceptronG(Wg);
    
    vector<float> Wd = {1,-1,-1,1};
    perceptron perceptronD(Wd);
    while(true){
        
        vector<int> X = {1,1,1};
        
        printf("X=%d,%d,%d\r\n",X[0],X[1],X[2]);
        
        int Vg=perceptronG.predict(X);
        int Vd=perceptronD.predict(X);
        
        printf("Vg=%d\r\n",Vg);
        printf("Vd=%d\r\n",Vd);
        m1.speed(Vg);
        m2.speed(Vd);
    }
}