Diff: main.cpp

Revision:

117:7141c0517b82

Parent:

116:ddc6e6fcfaf9

Child:

118:af86e883dcb4

diff -r ddc6e6fcfaf9 -r 7141c0517b82 main.cpp
--- a/main.cpp	Mon Sep 14 00:30:55 2020 +0000
+++ b/main.cpp	Mon Sep 14 01:01:10 2020 +0000
@@ -379,6 +379,36 @@
         }
         
         else if(NN_Control_Flag == 1) {
+            
+            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;
+//            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] - torq.sen)/10000.0f+0.5f;
+//            input_NN[ind] = (f_future[2*i+2])/10000.0f+0.5f;
+                ind = ind + 1;
+            }
+            
             float output1[16] = { 0.0f };
             float output2[16] = { 0.0f };
             float output3[16] = { 0.0f };