Diff: CAN/function_CAN.cpp

Revision:

149:b273ae9cec75

Parent:

139:15621998925b

Child:

150:b0ac087118cc

--- 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);