Diff: CAN/function_CAN.cpp

Revision:

156:1f45755a3fc7

Parent:

150:b0ac087118cc

Child:

158:cb9a6999d5e2

--- a/CAN/function_CAN.cpp	Sun Oct 11 07:12:58 2020 +0000
+++ b/CAN/function_CAN.cpp	Sun Oct 11 09:56:20 2020 +0000
@@ -772,12 +772,12 @@
 
         int ind = 0;
         for(int i=0;i<numpast_u;i++){
-            input_NN[ind] = u_past[time_interval*i];
+            input_NN[ind] = u_past[2*i];
             ind = ind + 1;
         }
         
         for(int i=0;i<numpast_x;i++){
-            input_NN[ind] = x_past[time_interval*i] / 60.0f;
+            input_NN[ind] = x_past[2*i] / 60.0f;
             ind = ind + 1;
         }
         input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
@@ -788,14 +788,14 @@
 //        }
         
         for(int i=0;i<numpast_f;i++){
-            input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
+            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++){
-            input_NN[ind] = (f_future[time_interval*i+time_interval] - f_future[0])/10000.0f+0.5f;
-//            input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
+            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;
         }