![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
2011
Diff: main.cpp
- Revision:
- 185:ceb2bcd39667
- Parent:
- 184:cc550c29e5bb
- Child:
- 186:9ca80cca68e3
--- a/main.cpp Thu Dec 17 05:38:23 2020 +0000 +++ b/main.cpp Thu Dec 17 12:31:21 2020 +0000 @@ -1,4 +1,4 @@ -//201217_2 +//201217_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] = { - {-0.6262771487236023f,0.6764359474182129f,0.12903714179992676f,0.033053863793611526f,-0.9310817122459412f,0.6994863152503967f,-0.17472904920578003f,0.5373783111572266f,-0.8208760023117065f,-0.5895324945449829f,-0.23686346411705017f,-0.5168386697769165f,-0.26205670833587646f,-0.29976320266723633f,-0.2571594715118408f,-0.39345231652259827f}, -{-0.5415335297584534f,0.5260695219039917f,-0.3927857577800751f,-0.20766094326972961f,-0.7288967967033386f,0.30995869636535645f,-0.4054011106491089f,0.164305180311203f,-0.36127424240112305f,-0.10978926718235016f,-0.27367573976516724f,-0.2924371659755707f,0.2375551164150238f,-0.6300336122512817f,-0.20967772603034973f,-0.06330179423093796f}, -{-0.4568719267845154f,0.36545881628990173f,0.36391180753707886f,-0.4938513934612274f,-0.2582944333553314f,0.2829054892063141f,0.2872133255004883f,0.14931896328926086f,-0.24281781911849976f,0.07092254608869553f,-0.34757405519485474f,-0.21662749350070953f,-0.0006922125467099249f,0.005892524961382151f,0.05590221285820007f,-0.25968170166015625f}, -{-0.23324553668498993f,-0.03656072914600372f,0.39742106199264526f,0.23345571756362915f,0.006714447867125273f,-0.29361826181411743f,-0.11584559082984924f,0.21723006665706635f,0.1347539722919464f,0.376106858253479f,0.09624255448579788f,0.3126813471317291f,-0.16282400488853455f,0.06589004397392273f,-0.2961459457874298f,0.11506715416908264f}, -{0.4730798900127411f,-0.08643094450235367f,-0.0051451027393341064f,0.26189932227134705f,0.3074274957180023f,-0.2539425492286682f,0.1294034719467163f,-0.3941786587238312f,0.38965874910354614f,0.42161473631858826f,0.34818795323371887f,0.18164508044719696f,-0.06639711558818817f,0.41615772247314453f,-0.3865056037902832f,-0.12323042005300522f}, -{1.0259020328521729f,-1.0132431983947754f,0.21773302555084229f,0.3865581452846527f,0.9090150594711304f,-0.8978784680366516f,0.16514194011688232f,-1.0341856479644775f,0.7466626763343811f,0.7782397866249084f,-0.24734951555728912f,0.5408426523208618f,-0.2629496455192566f,0.8877524733543396f,-0.4132833778858185f,-0.027743525803089142f}, -{-0.22000382840633392f,0.14139001071453094f,-0.2501986622810364f,-0.6607210636138916f,-0.5363098382949829f,0.3223399221897125f,0.06014183163642883f,-0.32166343927383423f,0.38338252902030945f,-0.04266800358891487f,0.150299072265625f,0.15599359571933746f,-0.1737729012966156f,0.2303183376789093f,-0.15618428587913513f,-0.6801899075508118f}, -{-0.20309101045131683f,-0.19954226911067963f,-0.26619744300842285f,0.025165753439068794f,-0.4927912950515747f,-0.09613949060440063f,-0.17925891280174255f,-0.3022015392780304f,-0.12994714081287384f,0.10696251690387726f,0.10463108122348785f,-0.5030022263526917f,0.3709419369697571f,0.07336973398923874f,0.04303058981895447f,-0.0186854749917984f}, 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-{0.49921914935112f,-0.12426546961069107f,0.37182438373565674f,0.1734911948442459f,0.0998196080327034f,-0.2256387174129486f,-0.20339298248291016f,-0.14560918509960175f,-0.5203431248664856f,0.29738131165504456f,0.3477185070514679f,-0.7686545252799988f,-0.06686156243085861f,0.18507450819015503f,0.26688337326049805f,-0.3890383839607239f}, -{-0.309658020734787f,-0.5612074136734009f,-0.40320003032684326f,-0.08735401183366776f,0.17246374487876892f,-0.23859316110610962f,0.1533789038658142f,0.30321890115737915f,-0.20649567246437073f,0.4278823435306549f,-0.41482847929000854f,-0.11989966779947281f,0.14430087804794312f,0.1275394856929779f,0.10493969917297363f,-0.21339687705039978f}, -{-0.032347578555345535f,-0.30514925718307495f,0.19847965240478516f,0.07757232338190079f,0.3274249732494354f,0.0221506729722023f,-0.2404318004846573f,0.12425026297569275f,-0.20735028386116028f,-0.027003176510334015f,-0.10963847488164902f,-0.3532784879207611f,0.09164450317621231f,0.1177033856511116f,-0.22268100082874298f,-0.5550960302352905f}, -{-0.17338071763515472f,-0.14973998069763184f,0.4127817749977112f,-0.1364835798740387f,-0.2861931324005127f,-0.32570594549179077f,-0.32001304626464844f,-0.2751464247703552f,-0.17117387056350708f,-0.12070254981517792f,-0.1955135613679886f,-0.24695760011672974f,-0.31312841176986694f,-0.0068085212260484695f,0.0479682981967926f,-0.07853478193283081f}, -{0.1221688836812973f,-0.019104432314634323f,0.20282304286956787f,0.04053569957613945f,0.2885245084762573f,-0.2023257166147232f,0.04202890396118164f,0.3309052586555481f,0.24795648455619812f,0.1407848447561264f,-0.27989521622657776f,-0.530148983001709f,0.10311337560415268f,-0.04207143932580948f,0.0668090283870697f,0.023457825183868408f}, -{-0.10357660800218582f,-0.35236889123916626f,-0.40439701080322266f,-0.10286334156990051f,-0.23233531415462494f,-0.04757693409919739f,-0.15568238496780396f,0.053596314042806625f,0.15211129188537598f,0.036898404359817505f,-0.4743227958679199f,-0.2902921438217163f,-0.27164894342422485f,-0.0015234476886689663f,-0.08245879411697388f,0.11585502326488495f}, -{-0.148553729057312f,-0.15161438286304474f,0.16706281900405884f,0.07617825269699097f,-0.10172960162162781f,-0.2880394160747528f,-0.041414469480514526f,0.09774453192949295f,-0.11328661441802979f,0.11450228095054626f,-0.35401779413223267f,-0.0123513825237751f,0.11138944327831268f,0.3343143165111542f,0.29427415132522583f,-0.004698142409324646f}, + {-1.1207894086837769f,0.11903887242078781f,0.12903714179992676f,-0.07067181169986725f,-1.3666995763778687f,1.0737475156784058f,-0.17472904920578003f,-0.21810932457447052f,-0.40764832496643066f,-0.06502553820610046f,-0.23684236407279968f,-0.4039178490638733f,-0.2676747143268585f,-1.2385258674621582f,-0.2571594715118408f,2.2077527046203613f}, +{-0.5851386189460754f,-0.19851532578468323f,-0.3927857577800751f,-0.26409125328063965f,-0.8272938132286072f,0.3482273519039154f,-0.4054011106491089f,-0.2952779233455658f,-0.2369799166917801f,0.19087964296340942f,-0.2736198306083679f,-0.22399084270000458f,0.23191256821155548f,-1.0678339004516602f,-0.20967772603034973f,1.577996015548706f}, +{-0.6128913760185242f,0.15684029459953308f,0.36391180753707886f,-0.5149809122085571f,-0.5162920951843262f,0.4419298470020294f,0.2872133255004883f,-0.0511334091424942f,-0.3304816484451294f,0.20013725757598877f,-0.3474749028682709f,-0.19952453672885895f,-0.006370564457029104f,-0.35292911529541016f,0.05590221285820007f,0.5734474658966064f}, +{-0.551689863204956f,0.5238215923309326f,0.39742106199264526f,0.24961261451244354f,-0.38436639308929443f,-0.03177526220679283f,-0.11584559082984924f,0.2850537896156311f,-0.15378326177597046f,0.34043049812316895f,0.09638378769159317f,0.2750474810600281f,-0.16855108737945557f,-0.21234971284866333f,-0.2961459457874298f,-0.09920983761548996f}, +{0.5003691911697388f,0.7489572763442993f,-0.0051451027393341064f,0.3413567841053009f,0.3185289204120636f,-0.3788270056247711f,0.1294034719467163f,0.013296476565301418f,-0.17004884779453278f,0.16348886489868164f,0.34836387634277344f,0.1070728674530983f,-0.07216952741146088f,0.5355852842330933f,-0.3865056037902832f,-1.6160576343536377f}, +{2.4414103031158447f,-1.3603116273880005f,0.21773302555084229f,0.5786158442497253f,2.3384199142456055f,-2.341205358505249f,0.16514194011688232f,-0.16069768369197845f,-0.23906369507312775f,0.1837228685617447f,-0.24712057411670685f,0.46230411529541016f,-0.2688344120979309f,1.8572421073913574f,-0.4132833778858185f,-2.6660830974578857f}, +{-1.2316234111785889f,2.3141636848449707f,-0.2501986622810364f,-0.7452970743179321f,-1.6727797985076904f,1.6263598203659058f,0.06014183163642883f,-1.3012621402740479f,0.05096759274601936f,-0.054887887090444565f,0.1482049971818924f,-0.1365739405155182f,-0.17589396238327026f,0.9735093712806702f,-0.15618428587913513f,-2.760838747024536f}, +{-0.7707603573799133f,0.44884923100471497f,-0.26619744300842285f,0.08961119502782822f,-1.3229494094848633f,0.8302067518234253f,-0.17925891280174255f,-1.0168284177780151f,-0.3114836513996124f,0.037049852311611176f,0.1025993674993515f,-0.4631269574165344f,0.36828500032424927f,0.7522405385971069f,0.04303058981895447f,-1.0034669637680054f}, +{1.1463665962219238f,-2.00508713722229f,0.10248100757598877f,-0.1147058829665184f,0.33484309911727905f,-0.5105528235435486f,-0.07246989011764526f,-0.7750892639160156f,-0.6298611164093018f,0.31855830550193787f,-0.29995012283325195f,0.13688898086547852f,0.22595255076885223f,1.9230021238327026f,-0.30555272102355957f,0.4364432096481323f}, +{0.3599340319633484f,-1.7126232385635376f,0.18462657928466797f,0.046022627502679825f,0.35242894291877747f,-0.0635581910610199f,-0.2990540862083435f,-0.16806179285049438f,-0.21009381115436554f,-0.4708169400691986f,-0.010852859355509281f,-0.7255858778953552f,0.3690471947193146f,0.7015026807785034f,0.3484981060028076f,0.7052909135818481f}, +{0.40998557209968567f,-0.4533356726169586f,0.37182438373565674f,0.24620556831359863f,-0.04212367907166481f,-0.008847737684845924f,-0.20339298248291016f,0.08587904274463654f,-0.4661715626716614f,0.04152877628803253f,0.3458111584186554f,-0.5930091142654419f,-0.06989831477403641f,0.4418874680995941f,0.26688337326049805f,0.45477554202079773f}, +{-0.17343413829803467f,-0.6313080787658691f,-0.40320003032684326f,-0.10961535573005676f,0.31485167145729065f,-0.3106193542480469f,0.1533789038658142f,0.4940248727798462f,-0.12247034907341003f,0.21827702224254608f,-0.4167521595954895f,-0.11904768645763397f,0.141240194439888f,0.4707631468772888f,0.10493969917297363f,0.3073517978191376f}, +{0.0036753679160028696f,-0.25179633498191833f,0.19847965240478516f,0.00011799168714787811f,0.42277297377586365f,-0.02087358571588993f,-0.2404318004846573f,0.2430993765592575f,-0.12190371006727219f,-0.19089198112487793f,-0.11158150434494019f,-0.4564979076385498f,0.0885269045829773f,0.2844822108745575f,-0.22268100082874298f,-0.054818760603666306f}, +{-0.07422329485416412f,-0.18730443716049194f,0.4127817749977112f,-0.24456866085529327f,-0.07600237429141998f,-0.4701249301433563f,-0.32001304626464844f,-0.23252570629119873f,-0.0699765756726265f,-0.23060005903244019f,-0.19743308424949646f,-0.38015928864479065f,-0.3162824809551239f,0.19689230620861053f,0.0479682981967926f,0.13808809220790863f}, +{-0.02316875383257866f,0.07026105374097824f,0.20282304286956787f,-0.12191043794155121f,0.3012254536151886f,-0.15037906169891357f,0.04202890396118164f,0.31775209307670593f,0.3745761513710022f,0.06853658705949783f,-0.2818021774291992f,-0.6646410226821899f,0.09998573362827301f,0.08127274364233017f,0.0668090283870697f,0.11656997352838516f}, +{-0.08771541714668274f,-0.29093530774116516f,-0.40439701080322266f,-0.27386903762817383f,0.047894712537527084f,-0.2232920229434967f,-0.15568238496780396f,-0.000019472498024697416f,0.25417909026145935f,-0.027364736422896385f,-0.4762294590473175f,-0.39110928773880005f,-0.27474963665008545f,0.1116238385438919f,-0.08245879411697388f,-0.018915435299277306f}, +{-0.17197364568710327f,-0.1777856945991516f,0.16706281900405884f,-0.10206405073404312f,0.2941252291202545f,-0.5609397292137146f,-0.041414469480514526f,0.013804765418171883f,-0.008053786121308804f,0.059366535395383835f,-0.355907678604126f,-0.06494681537151337f,0.10836436599493027f,0.31674882769584656f,0.29427415132522583f,0.1281813383102417f}, }; const float h2[16][16] = { - 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-{-0.2991822361946106f,0.2430352121591568f,0.05769426003098488f,-0.05932474136352539f,0.22252558171749115f,0.10596726834774017f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.15250977873802185f,-0.27149567008018494f,0.22480253875255585f,-0.032620642334222794f}, -{-0.2675279378890991f,0.11903848499059677f,0.10957467555999756f,-0.09322933852672577f,0.19092132151126862f,-0.22298936545848846f,-0.32875844836235046f,-0.31893211603164673f,-0.406647652387619f,-0.4977445602416992f,-0.3685331642627716f,-0.41174250841140747f,0.387249231338501f,-0.2872806787490845f,0.5488862991333008f,0.3443051278591156f}, -{-0.015470266342163086f,-0.032605547457933426f,0.5063179135322571f,0.20350171625614166f,0.2139560729265213f,-0.6438137888908386f,0.05196094512939453f,-0.008358269929885864f,-0.4102620780467987f,-0.3847755491733551f,0.13179203867912292f,-0.11511552333831787f,0.6443201899528503f,-1.1850228309631348f,0.7602667212486267f,0.288639634847641f}, -{0.1863725483417511f,0.5239777565002441f,-0.0930628851056099f,-0.6089721322059631f,0.47939109802246094f,-0.1469094455242157f,0.04860696196556091f,0.17769548296928406f,-0.017368249595165253f,0.3258848488330841f,-0.3929237127304077f,0.19592127203941345f,0.9624595642089844f,-0.5603758692741394f,0.7474141120910645f,0.26384568214416504f}, +{0.15459725260734558f,-4.455471515655518f,0.2063979208469391f,-0.16665953397750854f,-2.409517526626587f,0.26550307869911194f,-0.08742031455039978f,0.20836345851421356f,4.003970623016357f,-5.514995574951172f,0.1268840730190277f,-0.196970134973526f,-0.042327187955379486f,-0.2887566089630127f,1.5169163942337036f,0.11687371879816055f}, +{-0.408692330121994f,-3.7348432540893555f,-1.0823179483413696f,0.0922636091709137f,-3.819244384765625f,0.8333006501197815f,0.03285527229309082f,0.1285226047039032f,2.084113836288452f,-1.180153727531433f,0.12809070944786072f,-0.024945149198174477f,-0.44915035367012024f,-1.1309398412704468f,2.0718135833740234f,-0.11689815670251846f}, +{-0.2991822361946106f,0.33872997760772705f,-0.04017214849591255f,-0.05932474136352539f,0.08582660555839539f,0.19224846363067627f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.015840977430343628f,-0.17217224836349487f,0.30973750352859497f,-0.16869547963142395f}, +{-0.2675279378890991f,-0.11932983249425888f,0.24120302498340607f,-0.051898520439863205f,-0.06267373263835907f,-0.4248918890953064f,-0.32875844836235046f,-0.5732442140579224f,-1.3115204572677612f,-1.4650821685791016f,-0.5193623900413513f,-0.6848157644271851f,1.3948307037353516f,-0.4999399185180664f,0.3812706172466278f,-0.013988173566758633f}, +{-0.015470266342163086f,-1.0416501760482788f,-0.8061215281486511f,0.2843511998653412f,2.575193166732788f,-2.3095240592956543f,0.05196094512939453f,-0.15781158208847046f,-5.089864730834961f,-3.9169938564300537f,0.13179203867912292f,-0.44601577520370483f,-0.7130173444747925f,-3.300994634628296f,-0.19195395708084106f,-0.4221218526363373f}, +{0.1863725483417511f,3.3751773834228516f,0.8427606821060181f,-0.54763263463974f,-0.30936399102211f,1.0323984622955322f,0.04860696196556091f,0.17769548296928406f,2.7279672622680664f,1.759793758392334f,-0.3929237127304077f,0.10733047127723694f,0.30415141582489014f,1.4599394798278809f,0.5429083704948425f,-0.32982656359672546f}, }; -const float hout[16] = { 0.45773375034332275f,0.2499079555273056f,-0.22892211377620697f,-0.04260948672890663f,-0.18825720250606537f,0.47042760252952576f,0.0030125975608825684f,0.15066689252853394f,-0.25388941168785095f,0.027422674000263214f,0.24303162097930908f,-0.2715643346309662f,-0.547390878200531f,0.5737087726593018f,0.5385627746582031f,-0.37718236446380615f }; - -const float b1[16] = { 0.5151800513267517f,1.0570859909057617f,-1.7145336866378784f,0.31947922706604004f,1.0157049894332886f,0.9086388349533081f,-0.058932315558195114f,0.9614306092262268f,0.582882285118103f,-0.9132814407348633f,0.5715821385383606f,1.474446177482605f,-0.37206971645355225f,-0.8772823214530945f,-1.087764859199524f,0.8449752330780029f }; - -const float b2[16] = { 0.07387989014387131f,-0.8230704069137573f,-1.4564176797866821f,-0.5030969381332397f,-0.6939148902893066f,0.18629290163516998f,0.2271423190832138f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.256391704082489f,0.4174264073371887f,-0.2027779221534729f,1.9811477661132812f,0.2220710963010788f,0.922065794467926f }; - -const float b3[16] = { -1.963319182395935f,-0.1780657172203064f,0.16824571788311005f,-0.2284822016954422f,0.05057953670620918f,0.8047837018966675f,-0.45353031158447266f,-0.6562485098838806f,0.5125573873519897f,0.4592498242855072f,-0.14371006190776825f,0.050810977816581726f,-0.5874278545379639f,0.5118899941444397f,-1.0006195306777954f,-0.35884568095207214f }; - -const float bout[1] = { -0.3139127194881439f }; +const float hout[16] = { 0.45773375034332275f,0.10399800539016724f,-0.14760561287403107f,-0.1568564623594284f,-0.20530475676059723f,0.11688082665205002f,0.0030125975608825684f,0.09003929793834686f,-0.11696770042181015f,-0.43652406334877014f,0.10312434285879135f,0.01772494614124298f,-0.26845306158065796f,0.33403483033180237f,0.36010104417800903f,-0.1654316484928131f }; + +const float b1[16] = { 0.4092628061771393f,1.5205157995224f,-1.7145336866378784f,0.26850801706314087f,1.0515241622924805f,0.7952827215194702f,-0.058932315558195114f,0.7741511464118958f,0.7118774652481079f,-0.9102972745895386f,0.5694966912269592f,1.34639573097229f,-0.37447425723075867f,-2.45182204246521f,-1.087764859199524f,0.9683187007904053f }; + +const float b2[16] = { 0.6843794584274292f,-0.8435906767845154f,-1.4564176797866821f,-0.6941748261451721f,-0.6939148902893066f,0.16359400749206543f,0.0005342058720998466f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.5774162411689758f,0.40758979320526123f,-0.22874252498149872f,0.7875402569770813f,0.3559374511241913f,0.8383235335350037f }; + +const float b3[16] = { -1.963319182395935f,-0.3471168279647827f,0.6637545824050903f,-0.15220783650875092f,0.3992299735546112f,0.48744434118270874f,-0.45353031158447266f,-0.9704262018203735f,1.1186553239822388f,1.7476211786270142f,-0.29535505175590515f,-0.33639708161354065f,-0.5262699127197266f,0.6289868354797363f,-0.5319778919219971f,-0.7022217512130737f }; + +const float bout[1] = { -0.17621539533138275f }; /////////////////////////////////////////////////////////////////////////////////////////////RL float input_RL[num_input_RL] = { 0.0f }; @@ -1037,8 +1037,8 @@ 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[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; +// 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; }