Sungwoo Kim
/
HydraulicControlBoard_Base
distribution-201229
Diff: CAN/function_CAN.cpp
- Revision:
- 117:7141c0517b82
- Parent:
- 101:50159049a518
- Child:
- 121:89396c37b03e
diff -r ddc6e6fcfaf9 -r 7141c0517b82 CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Mon Sep 14 00:30:55 2020 +0000 +++ b/CAN/function_CAN.cpp Mon Sep 14 01:01:10 2020 +0000 @@ -770,34 +770,34 @@ f_future[num_array_f_future-1] = torq.ref; //N - int ind = 0; - for(int i=0;i<numpast_u;i++){ - input_NN[ind] = u_past[2*i]; - ind = ind + 1; - } - - for(int i=0;i<numpast_x;i++){ - input_NN[ind] = x_past[2*i] / 60.0f; - ind = ind + 1; - } - input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; - ind = ind + 1; -// for(int i=0;i<numfuture_x;i++){ -// input_NN[ind] = x_future[2*i+2] / 60.0f; +// int ind = 0; +// for(int i=0;i<numpast_u;i++){ +// input_NN[ind] = u_past[2*i]; +// ind = ind + 1; +// } +// +// for(int i=0;i<numpast_x;i++){ +// input_NN[ind] = x_past[2*i] / 60.0f; // ind = ind + 1; // } - - for(int i=0;i<numpast_f;i++){ - input_NN[ind] = f_past[2*i] / 10000.0f + 0.5f; - ind = ind + 1; - } - input_NN[ind] = torq.sen / 10000.0f + 0.5f; - ind = ind + 1; - for(int i=0;i<numfuture_f;i++){ - input_NN[ind] = (f_future[2*i+2] - f_future[0])/10000.0f+0.5f; -// input_NN[ind] = (f_future[2*i+2])/10000.0f+0.5f; - ind = ind + 1; - } +// input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; +// ind = ind + 1; +//// for(int i=0;i<numfuture_x;i++){ +//// input_NN[ind] = x_future[2*i+2] / 60.0f; +//// ind = ind + 1; +//// } +// +// for(int i=0;i<numpast_f;i++){ +// input_NN[ind] = f_past[2*i] / 10000.0f + 0.5f; +// ind = ind + 1; +// } +// input_NN[ind] = torq.sen / 10000.0f + 0.5f; +// ind = ind + 1; +// for(int i=0;i<numfuture_f;i++){ +// input_NN[ind] = (f_future[2*i+2] - f_future[0])/10000.0f+0.5f; +//// input_NN[ind] = (f_future[2*i+2])/10000.0f+0.5f; +// ind = ind + 1; +// } } else if(address==CID_RX_REF_VALVE_POS) { int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);