Diff: setting.h

Revision:

99:7bbcb3c0fb06

Parent:

97:d71c57e3515e

Child:

106:a511a5a84439

diff -r cd1b2da4704f -r 7bbcb3c0fb06 setting.h
--- a/setting.h	Wed Aug 19 02:27:45 2020 +0000
+++ b/setting.h	Mon Sep 07 13:24:15 2020 +0000
@@ -422,18 +422,21 @@
 extern float D_LPF;
 
 extern float torq_ref_past ;
+extern float output_normalized;
 
 //extern const int num_input ;
 //extern const int num_input_array;
 
+#define     numpast_u           5
 #define     numpast_x           5
 #define     numfuture_x         0
-#define     numpast_f           0
+#define     numpast_f           5
 #define     numfuture_f         10
-#define     num_input           17  //numpast_x + 1 + numfuture_x + numpast_f + 1 + numfuture_f
+#define     num_input           27  //numpast_x + 1 + numfuture_x + numpast_f + 1 + numfuture_f
 
+#define     num_array_u_past        11  // numpast_u * 2 + 1
 #define     num_array_f_future      21  // numfuture_f * 2 + 1
-#define     num_array_f_past        1  // numpast_f * 2 + 1        
+#define     num_array_f_past        11  // numpast_f * 2 + 1        
 #define     num_array_x_past        11  // numpast_x * 2 + 1      
 #define     num_array_x_future      1  // numfuture_x * 2 + 1