![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
2011
Diff: main.cpp
- Revision:
- 194:af08624e14f1
- Parent:
- 193:0904bcfba906
- Child:
- 195:51e8f3d98cf8
--- a/main.cpp Mon Dec 21 01:48:05 2020 +0000 +++ b/main.cpp Mon Dec 21 07:51:48 2020 +0000 @@ -1,4 +1,4 @@ -//201221_2 +//201221_3 #include "mbed.h" #include "FastPWM.h" #include "INIT_HW.h" @@ -198,72 +198,72 @@ float input_NN[num_input] = { 0.0f }; const float h1[num_input][16] = { - {-2.8875832557678223f,-4.350209712982178f,0.12903714179992676f,1.3009741306304932f,-5.5373029708862305f,4.660557746887207f,-0.2791702151298523f,-1.9673373699188232f,-0.7876915335655212f,-0.0838925912976265f,2.056579351425171f,-0.4775930643081665f,-1.0840169191360474f,1.8268940448760986f,-0.2571594715118408f,2.9264285564422607f}, -{-1.3164054155349731f,-1.0876696109771729f,-0.3927857577800751f,-0.17620158195495605f,-2.255859851837158f,1.8839436769485474f,-0.5099403262138367f,-0.14369310438632965f,-0.13448645174503326f,0.15958870947360992f,0.15939955413341522f,-0.42307791113853455f,0.20936834812164307f,1.267188310623169f,-0.20967772603034973f,0.9964867830276489f}, -{0.06387539207935333f,1.4797385931015015f,0.36391180753707886f,-2.035085678100586f,0.8221196532249451f,-0.5720292329788208f,0.1825331747531891f,1.1346113681793213f,-0.003860754193738103f,0.1558271050453186f,-1.7455146312713623f,1.0800236463546753f,0.07024586945772171f,1.8495509624481201f,0.05590221285820007f,-0.37971919775009155f}, -{0.9885547161102295f,1.5857746601104736f,0.39742106199264526f,-1.2683287858963013f,2.0560503005981445f,-2.5400471687316895f,-0.22064009308815002f,0.8703923225402832f,0.13546788692474365f,0.2843056321144104f,-2.2105302810668945f,2.5788559913635254f,0.5550571084022522f,1.794255256652832f,-0.2961459457874298f,0.2030809372663498f}, -{2.200376272201538f,3.6978235244750977f,-0.0051451027393341064f,-1.942883849143982f,4.397477149963379f,-3.9836559295654297f,0.02445490099489689f,0.9118081331253052f,0.5158184766769409f,0.09270843863487244f,-2.1270408630371094f,1.882066249847412f,1.7573285102844238f,1.8979692459106445f,-0.3865056037902832f,-1.4143869876861572f}, -{0.8054906129837036f,-1.1853986978530884f,0.21773302555084229f,4.188623905181885f,0.5909639000892639f,0.6981121897697449f,0.05976053699851036f,-0.7846987247467041f,0.20079123973846436f,0.09867625683546066f,3.799494981765747f,-4.499797344207764f,-1.4829895496368408f,1.8938766717910767f,-0.4132833778858185f,-2.2401516437530518f}, -{-1.5190078020095825f,1.271410584449768f,-0.2501986622810364f,-0.5451289415359497f,-0.8939541578292847f,2.742082357406616f,0.12410038709640503f,-6.818014144897461f,-0.9918410181999207f,0.19527918100357056f,0.35870087146759033f,0.15415209531784058f,2.906383991241455f,-2.109793186187744f,-0.15618428587913513f,1.2686793804168701f}, -{2.2960519790649414f,-5.624841690063477f,-0.26619744300842285f,6.079721927642822f,-0.3825916051864624f,-1.792807936668396f,-0.0939173549413681f,-2.491455316543579f,-0.6362387537956238f,0.12280473113059998f,0.6536430716514587f,0.5521262884140015f,-5.004723072052002f,0.6268825531005859f,0.04303058981895447f,-0.4301891326904297f}, -{-1.9210988283157349f,2.5509939193725586f,0.10248100757598877f,-5.90464448928833f,0.7159120440483093f,-1.6442101001739502f,0.016528913751244545f,2.481851816177368f,2.635460138320923f,0.23555311560630798f,-5.085883617401123f,5.884235382080078f,1.514432668685913f,1.8693565130233765f,-0.30555272102355957f,1.5611883401870728f}, -{-1.0942480564117432f,-0.3101767897605896f,0.18462657928466797f,0.9410581588745117f,0.9320352673530579f,0.9933137893676758f,-0.18479645252227783f,0.6708211302757263f,-9.016300201416016f,-0.470211923122406f,-2.011240005493164f,-5.41322660446167f,6.036438465118408f,0.33657756447792053f,0.3484981060028076f,-6.891803741455078f}, -{2.937290906906128f,0.6232564449310303f,0.37182438373565674f,-0.4780430793762207f,-0.44739291071891785f,0.03720070421695709f,-0.0787377655506134f,0.17832960188388824f,5.983466148376465f,0.11380341649055481f,1.1910761594772339f,-1.6104626655578613f,-4.83803129196167f,-1.6345070600509644f,0.26688337326049805f,-0.5359570384025574f}, -{-6.720205783843994f,-0.6497623324394226f,-0.40320003032684326f,0.41325268149375916f,0.006919620092958212f,-1.219043493270874f,0.2721494436264038f,-0.07717830687761307f,3.101379871368408f,0.2537602186203003f,-0.615500807762146f,0.01843559928238392f,0.1453823447227478f,0.982496440410614f,0.10493969917297363f,-0.4359149634838104f}, -{4.940186023712158f,0.7198941111564636f,0.19847965240478516f,-0.4888766407966614f,-0.09065083414316177f,0.8704018592834473f,-0.1270318329334259f,0.3633882701396942f,-1.3489848375320435f,-0.18985214829444885f,0.7454805374145508f,0.3823730945587158f,-0.5087627172470093f,-0.48880240321159363f,-0.22268100082874298f,-0.08843398094177246f}, -{0.4864242672920227f,-0.15097640454769135f,0.4127817749977112f,0.0952228382229805f,0.07362950593233109f,0.036899350583553314f,-0.2119545042514801f,0.08390690386295319f,-0.38798388838768005f,-0.27188432216644287f,-0.08493571728467941f,0.21780912578105927f,0.009478157386183739f,0.10886811465024948f,0.0479682981967926f,0.13055111467838287f}, -{-0.012235446833074093f,-0.03355827555060387f,0.20282304286956787f,-0.08159107714891434f,-0.06526221334934235f,-0.13693425059318542f,0.14649520814418793f,-0.07531850039958954f,-0.1413915604352951f,0.07060986757278442f,0.3432573974132538f,-0.004140541423112154f,-0.037513576447963715f,-0.03986420854926109f,0.0668090283870697f,-0.5698944926261902f}, 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+{-0.7998895049095154f,0.5109922885894775f,0.36391180753707886f,-1.1221883296966553f,-0.7171371579170227f,0.5821225047111511f,0.22077886760234833f,0.7617179751396179f,0.06225375458598137f,0.33027592301368713f,0.1915585845708847f,-1.0418609380722046f,-0.0893695205450058f,-0.11921176314353943f,0.05590221285820007f,-1.094153881072998f}, +{0.01921302266418934f,-0.44504424929618835f,0.39742106199264526f,0.14442750811576843f,0.1817796379327774f,-0.3633936941623688f,-0.1822839081287384f,0.5295209884643555f,0.3982148766517639f,0.47919341921806335f,0.7370041012763977f,0.26466938853263855f,-0.3005327880382538f,0.6698964238166809f,-0.2961459457874298f,-0.12810474634170532f}, +{1.538445234298706f,-1.2775852680206299f,-0.0051451027393341064f,1.1201297044754028f,1.3208760023117065f,-1.030971884727478f,0.06295595318078995f,-0.39904701709747314f,0.2528730034828186f,0.3093512952327728f,0.4328072667121887f,1.0906072854995728f,-0.10629773885011673f,1.3204220533370972f,-0.3865056037902832f,0.5664471983909607f}, +{3.1024463176727295f,-3.198532819747925f,0.21773302555084229f,2.7270781993865967f,2.935645341873169f,-2.771397113800049f,0.09868708997964859f,-1.2613369226455688f,-0.41684624552726746f,0.3338526487350464f,-1.6985595226287842f,2.5546627044677734f,0.29588234424591064f,1.3862406015396118f,-0.4132833778858185f,2.0048415660858154f}, +{0.06956255435943604f,-0.05321533977985382f,-0.2501986622810364f,-1.4519786834716797f,-0.33464330434799194f,1.2587628364562988f,0.15304742753505707f,-2.26163649559021f,3.585217237472534f,-0.28293201327323914f,5.154526233673096f,0.5794693231582642f,5.0107269287109375f,5.003079891204834f,-0.15618428587913513f,0.033415380865335464f}, 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+{-0.038531042635440826f,0.06264675408601761f,0.4127817749977112f,-0.09437692910432816f,-0.16524609923362732f,-0.1568542718887329f,-0.22459450364112854f,-0.16035981476306915f,0.007792453281581402f,-0.11092106252908707f,-0.42938950657844543f,0.2258325070142746f,-0.36687782406806946f,-0.05758687108755112f,0.0479682981967926f,0.035920385271310806f}, +{0.21749328076839447f,0.1242302656173706f,0.20282304286956787f,0.02499271370470524f,0.16738873720169067f,0.044944681227207184f,0.13709530234336853f,0.29508256912231445f,0.322313129901886f,0.12534599006175995f,-0.06080000847578049f,-0.2731396555900574f,0.028080319985747337f,-0.004361992236226797f,0.0668090283870697f,0.04195671156048775f}, +{-0.014822322875261307f,-0.09126006811857224f,-0.40439701080322266f,0.0640999898314476f,-0.06501635164022446f,0.4254366457462311f,-0.06050308421254158f,-0.6540153622627258f,-0.03133808821439743f,-0.03438715636730194f,-0.10393131524324417f,0.037214238196611404f,0.019753944128751755f,0.2401929795742035f,-0.08245879411697388f,-0.018402650952339172f}, +{-0.18000495433807373f,-0.008730988018214703f,0.16706281900405884f,0.22033286094665527f,0.20727619528770447f,-0.27539098262786865f,0.0547083355486393f,-1.2074394226074219f,-0.08884167671203613f,0.016598667949438095f,-2.7905259132385254f,0.049532148987054825f,-2.8334755897521973f,0.2949661910533905f,0.29427415132522583f,-0.11820589005947113f}, }; const float h2[16][16] = { - 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-{-0.2991822361946106f,0.11518840491771698f,0.11643370240926743f,-0.05932474136352539f,0.026792805641889572f,0.15063521265983582f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.4114806652069092f,-0.044228196144104004f,-0.36229726672172546f,0.048441652208566666f,-0.3693793714046478f,0.05962720885872841f,-0.16869547963142395f}, -{-0.2675279378890991f,0.6963508129119873f,-2.938326597213745f,0.8145079016685486f,0.8959422707557678f,0.5264543294906616f,-0.32875844836235046f,-0.3670485019683838f,-0.5652082562446594f,-0.6467400789260864f,-0.6233183741569519f,-0.7216229438781738f,-0.24661146104335785f,-0.525417149066925f,1.0935742855072021f,0.451677531003952f}, -{-0.015470266342163086f,-0.8809381127357483f,0.7899576425552368f,2.4128308296203613f,0.8532193899154663f,-0.19236573576927185f,-0.05027467757463455f,-0.18992282450199127f,-0.3871394097805023f,0.7472769021987915f,-0.07508648931980133f,-0.06139330193400383f,-1.0190234184265137f,0.6735999584197998f,-0.5839648246765137f,0.16751737892627716f}, -{0.1863725483417511f,-0.49568605422973633f,-0.22101908922195435f,-2.304025173187256f,-0.5388448238372803f,0.8554566502571106f,0.04860696196556091f,-0.0032099848613142967f,-0.21743838489055634f,0.2737424671649933f,-0.6162844300270081f,-0.04213862866163254f,-0.1695404350757599f,1.100796103477478f,0.4078496992588043f,-3.8519089221954346f}, +{0.2847062647342682f,-0.04217337444424629f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.24361462891101837f,0.2430230677127838f,0.2909286320209503f,-0.1059197187423706f,0.18043199181556702f,0.41849127411842346f,-0.11668842285871506f,0.24394884705543518f,-0.20081529021263123f,-0.10168051719665527f,0.07166033983230591f}, +{0.15459725260734558f,1.9315658807754517f,-1.3029958009719849f,0.32703134417533875f,-0.7191936373710632f,0.9064168930053711f,-0.08742031455039978f,0.05785742402076721f,-0.20903271436691284f,-0.5999987721443176f,-0.023326968774199486f,-0.3608074486255646f,-2.2398598194122314f,0.34840458631515503f,1.2326200008392334f,1.5740525722503662f}, +{-0.408692330121994f,0.14855554699897766f,-6.2848968505859375f,1.6682909727096558f,1.4278849363327026f,1.7314330339431763f,0.03285527229309082f,0.23933479189872742f,-2.875887870788574f,-0.25883403420448303f,0.12809070944786072f,-6.6482157707214355f,0.4377211332321167f,-3.4800686836242676f,-0.34919512271881104f,-0.2955417037010193f}, +{-0.2991822361946106f,0.3794580399990082f,-0.01785147376358509f,-0.027639929205179214f,0.14104487001895905f,0.16700983047485352f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.015840977430343628f,-0.13475483655929565f,0.36124154925346375f,-0.09145502001047134f}, +{-0.2675279378890991f,-0.5946564078330994f,-1.1874229907989502f,2.3222973346710205f,0.15480443835258484f,-0.03476535901427269f,-0.4022018313407898f,-0.4624636471271515f,-2.233513355255127f,-0.9150521159172058f,-0.5386524796485901f,-3.766902208328247f,0.4342649281024933f,-2.808518886566162f,-0.3761671781539917f,0.47754913568496704f}, +{-0.015470266342163086f,-0.2279081642627716f,0.2936706244945526f,0.5660016536712646f,-0.06798931956291199f,-0.2461162805557251f,0.05196094512939453f,-0.008358269929885864f,-0.35892540216445923f,-0.38441595435142517f,0.10518988966941833f,-0.3137741982936859f,0.09256716817617416f,0.11416716128587723f,0.2110854685306549f,-0.29668670892715454f}, +{0.1863725483417511f,1.1505354642868042f,-1.7631850242614746f,2.4211480617523193f,-0.6060390472412109f,2.548659563064575f,-0.061775803565979004f,0.17769548296928406f,2.0680930614471436f,-0.07521702349185944f,-0.4195588529109955f,0.9091949462890625f,-0.5073791146278381f,1.695716381072998f,0.010379442013800144f,2.075155258178711f}, }; -const float hout[16] = { 0.45773375034332275f,0.11574485898017883f,-0.3037739098072052f,-0.19474096596240997f,-0.1200871467590332f,-0.11622349917888641f,-0.07468466460704803f,0.09362415969371796f,-0.07397104799747467f,0.09130262583494186f,0.05779830738902092f,0.07116646319627762f,-0.08413040637969971f,0.12060045450925827f,0.11304429173469543f,-0.12182606011629105f }; - -const float b1[16] = { 0.22641848027706146f,0.8754384517669678f,-1.7145336866378784f,0.06222753971815109f,0.3592431843280792f,0.3334251940250397f,-0.1643390953540802f,2.96201229095459f,0.3914264440536499f,-0.9038287997245789f,2.6884043216705322f,0.43134915828704834f,-0.1645440310239792f,-9.140918731689453f,-1.087764859199524f,3.1388704776763916f }; - -const float b2[16] = { 0.3475134074687958f,0.010023517534136772f,-1.5867693424224854f,0.6930003762245178f,-0.8746239542961121f,0.01831265538930893f,0.10687939822673798f,-0.4624027609825134f,-1.20063054561615f,-1.912178635597229f,1.338448166847229f,1.5667105913162231f,-0.31682881712913513f,1.4646944999694824f,2.1168222427368164f,0.529628336429596f }; - -const float b3[16] = { -1.963319182395935f,0.6983416676521301f,-3.1063830852508545f,-5.120163440704346f,-1.6882061958312988f,-1.0116599798202515f,-0.6721124053001404f,-1.0684020519256592f,-0.06659629195928574f,1.1856689453125f,-0.6569923758506775f,-0.47514140605926514f,0.16819599270820618f,-1.1058062314987183f,-1.684031367301941f,-1.2996470928192139f }; - -const float bout[1] = { -0.11064120382070541f }; +const float hout[16] = { 0.45773375034332275f,0.13627997040748596f,-0.0829579159617424f,-0.23971226811408997f,-0.09267473965883255f,0.2720899283885956f,-0.10775045305490494f,0.08958824723958969f,-0.20597738027572632f,0.020479021593928337f,0.023187460377812386f,-0.1408407837152481f,-0.17400237917900085f,0.3978644013404846f,1.4695531129837036f,-0.2842816114425659f }; + +const float b1[16] = { -0.08008207380771637f,1.6345624923706055f,-1.7145336866378784f,0.13955503702163696f,0.8351345658302307f,1.2412387132644653f,-0.1339941918849945f,-2.003366708755493f,-0.44007086753845215f,-1.833985447883606f,0.3371756672859192f,1.532662272453308f,0.526281476020813f,-2.292440176010132f,-1.087764859199524f,2.1556193828582764f }; + +const float b2[16] = { -0.24235272407531738f,-0.5724771022796631f,-1.4564176797866821f,1.2012637853622437f,-0.6939148902893066f,-0.4857896566390991f,0.1134854257106781f,-0.4887356460094452f,-1.20063054561615f,-2.064121961593628f,-0.4152926802635193f,-0.6429468393325806f,-0.233653262257576f,2.131087303161621f,-0.09679675847291946f,1.624418020248413f }; + +const float b3[16] = { -1.963319182395935f,0.5112237930297852f,0.24433067440986633f,0.05098426342010498f,0.7135115265846252f,0.6910668611526489f,-0.5711464285850525f,-0.8011982440948486f,-1.40574312210083f,-0.04465394467115402f,-0.4661113917827606f,-0.8684760928153992f,-1.2210686206817627f,-0.19784891605377197f,-1.8298512697219849f,-1.0926474332809448f }; + +const float bout[1] = { -0.39276280999183655f }; /////////////////////////////////////////////////////////////////////////////////////////////RL float input_RL[num_input_RL] = { 0.0f }; @@ -1037,8 +1037,8 @@ input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f; ind = ind + 1; for(int i=0; i<numfuture_f; i++) { -// input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f; - input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; + input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f; +// input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; ind = ind + 1; }