Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2_copy
2011
Diff: CAN/function_CAN.cpp
- Revision:
- 145:b273ae9cec75
- Parent:
- 137:15621998925b
- Child:
- 146:b0ac087118cc
diff -r 24859a1574b4 -r b273ae9cec75 CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Fri Oct 09 07:04:54 2020 +0000 +++ b/CAN/function_CAN.cpp Fri Oct 09 08:17:17 2020 +0000 @@ -770,34 +770,34 @@ 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; + int ind = 0; + for(int i=0;i<numpast_u;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[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; // 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++){ + + for(int i=0;i<numpast_f;i++){ + 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] - f_future[0])/10000.0f+0.5f; -//// input_NN[ind] = (f_future[2*i+2])/10000.0f+0.5f; -// ind = ind + 1; -// } + input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f; + ind = ind + 1; + } } else if(address==CID_RX_REF_VALVE_POS) { int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);