Diff: main.cpp

Revision:

172:63af34265fe9

Parent:

171:bfc1fd2629d8

Child:

173:68c7914679ec

--- a/main.cpp	Sat Nov 21 07:15:47 2020 +0000
+++ b/main.cpp	Sat Nov 21 07:25:32 2020 +0000
@@ -1,4 +1,4 @@
-//201121_1
+//201121_2
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -395,14 +395,14 @@
 //    mean_old = log(1.0f+exp(mean_old));
 //    deviation_old = log(1.0f+exp(deviation_old));
     if (mean_before_SP >=0) {
-        mean = mean_before_SP;
+        mean_old = mean_before_SP;
     } else {
-        mean = 0.0f;
+        mean_old = 0.0f;
     }
     if (deviation_before_SP >=0) {
-        deviation = deviation_before_SP;
+        deviation_old = deviation_before_SP;
     } else {
-        deviation = 0.0f;
+        deviation_old = 0.0f;
     }
 }
 
@@ -422,7 +422,7 @@
 
 void update_Critic_Networks(float (*arr)[num_input_RL])
 {
-    float gradient_rate = 0.01f;
+    float gradient_rate = 0.001f;
 
     float G_hc1[num_input_RL][num_hidden_unit] = {0.0f};
     float G_bc1[num_hidden_unit] = {0.0f};
@@ -486,7 +486,7 @@
 
 void update_Actor_Networks(float (*arr)[num_input_RL])
 {
-    float gradient_rate = 0.01f;   //-0.01f
+    float gradient_rate = 0.001f;   //-0.01f
 
     float G_ha1[num_input_RL][num_hidden_unit] = {0.0f};
     float G_ba1[num_hidden_unit] = {0.0f};