Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2_
rainbow
Diff: CAN/function_CAN.cpp
- Revision:
- 101:50159049a518
- Parent:
- 99:7bbcb3c0fb06
- Child:
- 117:7141c0517b82
diff -r ac788a23ab07 -r 50159049a518 CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Tue Sep 08 01:14:04 2020 +0000 +++ b/CAN/function_CAN.cpp Tue Sep 08 06:50:02 2020 +0000 @@ -760,8 +760,8 @@ for(int i=0; i<num_array_f_past-1;i++){ f_past[i] = f_past[i+1]; } - //f_past[num_array_f_past-1] = torq.sen; //N - f_past[num_array_f_past-1] = torq.ref; //N //For add PI control + f_past[num_array_f_past-1] = torq.sen; //N + //f_past[num_array_f_past-1] = torq.ref; //N //For add PI control f_future[0] = torq.sen; //N for(int i=1;i<num_array_f_future-1;i++){ @@ -769,7 +769,13 @@ } f_future[num_array_f_future-1] = torq.ref; //N + 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;