![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Original Version of STM Board
Diff: main.cpp
- Revision:
- 118:af86e883dcb4
- Parent:
- 117:7141c0517b82
- Child:
- 119:8ade52d4bb25
--- a/main.cpp Mon Sep 14 01:01:10 2020 +0000 +++ b/main.cpp Mon Sep 14 02:06:21 2020 +0000 @@ -1,4 +1,4 @@ -//200914-1 +//200914-2 #include "mbed.h" #include "FastPWM.h" #include "INIT_HW.h" @@ -193,77 +193,77 @@ float input_NN[num_input] = { 0.0f }; const float h1[num_input][16] = { - {-0.12142807245254517f,0.24139092862606049f,0.12024858593940735f,0.3085154592990875f,0.04829372093081474f,1.2526969909667969f,-0.1628284603357315f,0.6061364412307739f,-0.267910897731781f,-0.04973986744880676f,-0.1911298632621765f,-0.38887158036231995f,0.49988213181495667f,-1.4229333400726318f,-0.2396446317434311f,-0.5116663575172424f}, -{-0.26787224411964417f,1.0337470769882202f,-0.36603355407714844f,0.021422112360596657f,-0.5014011859893799f,1.0771880149841309f,-0.3777896761894226f,0.7346654534339905f,-0.0761999636888504f,0.18274518847465515f,-0.22543500363826752f,-0.3866732716560364f,0.26192963123321533f,-1.8653318881988525f,-0.1953967958688736f,-0.35824012756347656f}, -{-0.3649199903011322f,2.0039474964141846f,0.33912619948387146f,-0.30286991596221924f,-1.0894238948822021f,1.1758075952529907f,0.2676515281200409f,1.2353745698928833f,-0.15223653614521027f,0.18469227850437164f,-0.29429805278778076f,-0.5365757346153259f,-0.8037145733833313f,-1.295980453491211f,0.05209478735923767f,-0.708729088306427f}, -{-0.3271692097187042f,2.511580467224121f,0.3703531324863434f,0.3181683123111725f,-1.4615027904510498f,0.5149326324462891f,-0.10795548558235168f,1.5526634454727173f,0.018989790230989456f,0.30758431553840637f,0.11929067969322205f,-0.261160671710968f,-1.5794665813446045f,-1.3073738813400269f,-0.27597576379776f,-0.5264142751693726f}, 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+{0.40884125232696533f,-0.2336285412311554f,-0.07561364769935608f,0.02270103618502617f,-0.2815033197402954f,-0.73646479845047f,0.14428457617759705f,-0.20181608200073242f,-0.3427658975124359f,-0.31821179389953613f,-0.3578360378742218f,-1.0267835855484009f,-0.3186191916465759f,1.050688624382019f,0.019461065530776978f,0.23086552321910858f}, +{0.7475125193595886f,-0.665755569934845f,0.2631795108318329f,-0.724714457988739f,0.36547961831092834f,-1.258718490600586f,0.27224990725517273f,-0.8995881676673889f,-0.05133276432752609f,0.06621639430522919f,0.06264594197273254f,-1.6783150434494019f,0.43630486726760864f,1.1044129133224487f,0.06011766195297241f,0.3640836179256439f}, }; const float h2[16][16] = { - 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+{-0.6686052083969116f,1.1986757516860962f,-0.15798500180244446f,-0.8824228048324585f,-0.37393757700920105f,0.8962071537971497f,-0.20785248279571533f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,0.15467706322669983f,-0.551661491394043f,0.23710069060325623f,-0.6682615280151367f,-0.11948293447494507f,-0.022243276238441467f}, +{-0.3220524489879608f,-0.39394599199295044f,-0.2018718123435974f,-0.1575627624988556f,0.07545611262321472f,0.04054655879735947f,-0.24003709852695465f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.6880089044570923f,-0.3674003779888153f,-0.27380242943763733f,0.5272713303565979f,-1.119949460029602f,-0.36922433972358704f}, {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f}, -{-0.4368991553783417f,0.7573152184486389f,0.12081471085548401f,1.7409113645553589f,0.29976895451545715f,0.646031379699707f,-0.0614682137966156f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.36895906925201416f,-0.2702392637729645f,-0.2760795056819916f,0.030236508697271347f,0.5722708702087402f,0.1181602030992508f}, +{-0.07192385941743851f,0.6766030788421631f,0.12081471085548401f,0.4383029639720917f,0.29976895451545715f,-0.06717150658369064f,-0.2861359417438507f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.13777963817119598f,-0.41539883613586426f,-0.3014349937438965f,-0.4090578556060791f,-0.350934773683548f,-0.28625383973121643f}, }; const float h3[16][16] = { - {-0.36079341173171997f,-0.09681249409914017f,-0.06886705011129379f,-0.37561914324760437f,-0.17487698793411255f,0.030626926571130753f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.028686009347438812f,0.29298722743988037f,-0.3218167722225189f,0.16941024363040924f}, 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{0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f}, {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f}, 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-{-0.015470266342163086f,-1.4506276845932007f,0.38140514492988586f,1.8742892742156982f,-0.20687851309776306f,-0.14581704139709473f,-0.048190340399742126f,-0.09006329625844955f,0.937150239944458f,-0.3993879556655884f,-0.1511162966489792f,-0.39490216970443726f,0.37505999207496643f,-0.8093558549880981f,-0.3594619333744049f,1.3950458765029907f}, -{0.1863725483417511f,0.20969092845916748f,-1.3113279342651367f,-7.250408172607422f,-0.08607593923807144f,0.08639548718929291f,-0.024447815492749214f,0.026327338069677353f,-6.564481258392334f,-0.14472565054893494f,-0.703682005405426f,-0.10230952501296997f,-0.3622373938560486f,0.11915751546621323f,-4.42966365814209f,-0.6299999952316284f}, 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+{-0.2991822361946106f,0.14224176108837128f,0.15648812055587769f,-0.05932474136352539f,0.3219054937362671f,0.019387593492865562f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.2699495255947113f,-0.3697388768196106f,0.13241605460643768f,-0.16869547963142395f}, +{-0.2675279378890991f,-0.3864639103412628f,-0.36360350251197815f,0.058223359286785126f,0.01259082742035389f,-0.2988627254962921f,-0.45500972867012024f,-0.31893211603164673f,-0.47506827116012573f,-0.6956400275230408f,-0.4926331639289856f,-1.2168147563934326f,-0.21805618703365326f,-1.7307584285736084f,0.4814468324184418f,1.5982202291488647f}, +{-0.015470266342163086f,0.46531155705451965f,0.37467139959335327f,-0.028886189684271812f,-0.3300264775753021f,-0.26294541358947754f,-0.07256490737199783f,-0.008358269929885864f,-0.4880097210407257f,-0.7111483812332153f,0.029397042468190193f,-0.27496859431266785f,0.9506001472473145f,0.7077613472938538f,0.653728723526001f,-1.284180760383606f}, +{0.1863725483417511f,0.44253242015838623f,-0.8895649313926697f,-0.6261106133460999f,0.09252321720123291f,0.16897612810134888f,-0.03161505609750748f,0.024137338623404503f,-0.22729304432868958f,0.04278842732310295f,-0.5097978115081787f,-0.10846980661153793f,0.8339581489562988f,-0.7852450609207153f,-0.021044977009296417f,-0.29810839891433716f}, }; -const float hout[16] = { 0.45773375034332275f,0.10493728518486023f,-0.22224140167236328f,-0.1621534526348114f,0.02623613551259041f,0.1514434814453125f,-0.11126204580068588f,0.2194291055202484f,-0.24774053692817688f,0.1170450821518898f,-0.060366179794073105f,-0.06208733841776848f,-0.10628174990415573f,0.12339625507593155f,0.037204861640930176f,-0.17489881813526154f }; +const float hout[16] = { 0.45773375034332275f,0.31911107897758484f,-0.1796216368675232f,0.02225276455283165f,0.00775682320818305f,0.2153143286705017f,-0.13896840810775757f,0.04725155979394913f,-0.09814572334289551f,-0.07557471096515656f,0.09471917152404785f,-0.2356099635362625f,-0.25121569633483887f,0.20179446041584015f,0.07052961736917496f,-0.4867629110813141f }; -const float b1[16] = { 0.624637246131897f,1.356380820274353f,-1.7145336866378784f,0.24004428088665009f,2.8009581565856934f,3.6041359901428223f,-0.058932315558195114f,2.2639424800872803f,0.5300702452659607f,-0.8932367563247681f,0.6044619679450989f,1.6490927934646606f,-2.2505152225494385f,-2.303412914276123f,-1.087764859199524f,1.356432318687439f }; +const float b1[16] = { 1.6242481470108032f,1.5025521516799927f,-1.7145336866378784f,0.372548371553421f,1.024824857711792f,1.274719476699829f,-0.058932315558195114f,1.2145178318023682f,0.530387818813324f,-0.9235196709632874f,0.6003308892250061f,1.8733751773834229f,-0.9162682890892029f,-1.0943491458892822f,-1.087764859199524f,0.8950626850128174f }; -const float b2[16] = { -0.3033750653266907f,1.9101306200027466f,-1.4564176797866821f,-2.948333978652954f,-0.6939148902893066f,0.5749675035476685f,0.20706336200237274f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.3175031244754791f,0.4167090356349945f,-0.3413408398628235f,1.905746340751648f,0.9618608355522156f,1.0804579257965088f }; +const float b2[16] = { -0.48244044184684753f,-1.4596377611160278f,-1.4564176797866821f,-0.6742430925369263f,-0.6939148902893066f,0.03679073601961136f,0.10448678582906723f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.34773075580596924f,0.42268237471580505f,-0.27405646443367004f,1.7226717472076416f,-0.2819717824459076f,0.8814951777458191f }; -const float b3[16] = { -1.963319182395935f,1.2081444263458252f,-1.2923985719680786f,-1.374611496925354f,-0.256678968667984f,0.47946909070014954f,-0.5220568180084229f,-0.9044259190559387f,-0.5331991314888f,0.005888623651117086f,-0.442954957485199f,-0.25120648741722107f,-2.3471124172210693f,1.2962863445281982f,-0.05743084475398064f,-0.5033670663833618f }; +const float b3[16] = { -1.963319182395935f,-0.08225324749946594f,0.3287607431411743f,-0.12232505530118942f,-0.11128173768520355f,0.6797776818275452f,-0.5726286768913269f,-0.8121526837348938f,0.29713916778564453f,0.1593162715435028f,-0.25677886605262756f,-0.3984224200248718f,-0.38557979464530945f,-0.26475387811660767f,-1.1123615503311157f,-0.4025505483150482f }; -const float bout[1] = { -0.25130224227905273f }; +const float bout[1] = { -0.17530457675457f }; float VALVE_POS_RAW_NN = 0.0f; @@ -382,30 +382,30 @@ int ind = 0; for(int i=0; i<numpast_u; i++) { - input_NN[ind] = u_past[2*i]; + input_NN[ind] = u_past[time_interval*i]; ind = ind + 1; } for(int i=0; i<numpast_x; i++) { - input_NN[ind] = x_past[2*i] / 60.0f; + input_NN[ind] = x_past[time_interval*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; +// input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; // ind = ind + 1; // } for(int i=0; i<numpast_f; i++) { - input_NN[ind] = f_past[2*i] / 10000.0f + 0.5f; + input_NN[ind] = f_past[time_interval*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; + input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f; +// input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f; ind = ind + 1; }