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Diff: CAN/function_CAN.cpp
- Revision:
- 85:a3b46118b5cd
- Parent:
- 73:f80dc3970c99
- Child:
- 86:b8ed7abddeb2
--- a/CAN/function_CAN.cpp Sat Jul 11 06:52:32 2020 +0000 +++ b/CAN/function_CAN.cpp Sun Jul 12 06:25:51 2020 +0000 @@ -24,6 +24,7 @@ extern DigitalOut LED; extern float x_past[]; +extern float x_future[]; extern float f_past[]; extern float f_future[]; extern float input_NN[]; @@ -745,6 +746,11 @@ } x_past[num_array_x_past-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm + for(int i=0;i<num_array_x_future-1;i++){ + x_future[i] = x_future[i+1]; + } + x_future[num_array_x_future-1] = 31.25f; //N + for(int i=0; i<num_array_f_past-1;i++){ f_past[i] = f_past[i+1]; } @@ -763,6 +769,11 @@ } 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;