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Diff: main.cpp
- Revision:
- 63:3c6869477483
- Parent:
- 62:b5452adfb2cd
- Child:
- 64:6f1caa0993d0
diff -r b5452adfb2cd -r 3c6869477483 main.cpp --- a/main.cpp Fri Apr 03 11:44:01 2020 +0000 +++ b/main.cpp Fri Apr 03 12:48:42 2020 +0000 @@ -81,7 +81,7 @@ extern int CID_TX_VOUT; extern int CID_TX_VALVE_POSITION; -MatrixXd Input = MatrixXd::Zero(1,6); //input +MatrixXd Input = MatrixXd::Zero(1,22); //input MatrixXd h1 = MatrixXd::Zero(22,32); MatrixXd h2 = MatrixXd::Zero(32,32); MatrixXd h3 = MatrixXd::Zero(32,32); @@ -94,9 +94,8 @@ MatrixXd X; ArrayXf Y; -//ArrayXf NNoutput = ArrayXf::Zero(1,1); float NNoutput; -float input_array[4] ={0.0f}; +float input_array[6] ={0.0f}; float position_array[10] = {0.0f}; @@ -235,12 +234,9 @@ else ID_index_array[i] = (i+1) * 0.5f; } - - - Input << - 0.052414,0.066907,0.085407,0.109023,0.139169,0.177651; + 0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023; h1 << @@ -492,13 +488,13 @@ } timer_while ++; - t.reset(); - t.start(); + //t.reset(); + //t.start(); - Input << - input_array[0],input_array[1],input_array[2],input_array[3],input_array[4]; +// Input << +// input_array[0],input_array[1],input_array[2],input_array[3],input_array[4]; X = Input*h1+b1.transpose(); for(int i=0; i<32; i++){ @@ -518,26 +514,29 @@ X = X*hout+bout.transpose(); NNoutput=1.0f/(1.0f+exp(-X(0,0))); - t.stop(); + //t.stop(); + printf("NNoutput : %f\n", NNoutput); printf("time : %f\n", t.read()); - wait(1); + //wait(1); + + CAN_TX_PWM((int16_t) 78); //1500 - PWM_out = NNoutput * 24000.0f - 12000.0f; - - - if (PWM_out>0.0f) { - dtc_v=0.0f; - dtc_w=PWM_out; - } else { - dtc_v=-PWM_out; - dtc_w=0.0f; - } - - //pwm - TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); - TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); +// PWM_out = NNoutput * 24000.0f - 12000.0f; +// +// +// if (PWM_out>0.0f) { +// dtc_v=0.0f; +// dtc_w=PWM_out; +// } else { +// dtc_v=-PWM_out; +// dtc_w=0.0f; +// } +// +// //pwm +// TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); +// TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); @@ -676,14 +675,14 @@ ENC_UPDATE(); } - for(int i=0; i<10; i++){ - position_array[i] = position_array[i+1]; - } - position_array[10] = (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f; - - for(int i=0; i<5; i++){ - input_array[i] = position_array[2*i+2] - (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f; - } +// for(int i=0; i<10; i++){ +// position_array[i] = position_array[i+1]; +// } +// position_array[10] = (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f; +// +// for(int i=0; i<5; i++){ +// input_array[i] = position_array[2*i+2] - (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f; +// } ADC1->CR2 |= 0x40000000; if (SENSING_MODE == 0) {