Diff: main.cpp

Revision:

62:b5452adfb2cd

Parent:

61:bc8c8270f0ab

Child:

63:3c6869477483

--- a/main.cpp	Fri Apr 03 01:55:08 2020 +0000
+++ b/main.cpp	Fri Apr 03 11:44:01 2020 +0000
@@ -81,7 +81,7 @@
 extern int CID_TX_VOUT;
 extern int CID_TX_VALVE_POSITION;
 
-MatrixXd Input = MatrixXd::Zero(1,22);     //input
+MatrixXd Input = MatrixXd::Zero(1,6);     //input
 MatrixXd h1 = MatrixXd::Zero(22,32);
 MatrixXd h2 = MatrixXd::Zero(32,32);
 MatrixXd h3 = MatrixXd::Zero(32,32);
@@ -96,7 +96,8 @@
 ArrayXf Y;
 //ArrayXf NNoutput = ArrayXf::Zero(1,1);
 float NNoutput;
-
+float input_array[4] ={0.0f};
+float position_array[10] = {0.0f};
 
 
 // =============================================================================
@@ -239,7 +240,7 @@
     
 
     Input <<
-       0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.226773,0.289478,0.369522,0.471698,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.226773,0.289478,0.369522,0.471698,0.369522,0.471698;
+       0.052414,0.066907,0.085407,0.109023,0.139169,0.177651;
 
 
     h1 <<
@@ -494,6 +495,11 @@
         t.reset();
         t.start();
         
+        
+        
+        Input <<
+        input_array[0],input_array[1],input_array[2],input_array[3],input_array[4];
+        
         X = Input*h1+b1.transpose();
         for(int i=0; i<32; i++){
             if(X(i)<0)
@@ -513,12 +519,27 @@
         NNoutput=1.0f/(1.0f+exp(-X(0,0)));
         
         t.stop();
+        printf("NNoutput : %f\n", NNoutput);
+        printf("time : %f\n", t.read());
+        wait(1);
         
         
-        printf("NNoutput : %f\n", NNoutput);
-        printf("time : %f\n", t.read());
+        PWM_out = NNoutput * 24000.0f - 12000.0f;
+
 
-        wait(1);
+        if (PWM_out>0.0f) {
+            dtc_v=0.0f;
+            dtc_w=PWM_out;
+        } else {
+            dtc_v=-PWM_out;
+            dtc_w=0.0f;
+        }
+
+        //pwm
+        TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
+        TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
+        
+        
         
     }
 }
@@ -654,6 +675,15 @@
         if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
             ENC_UPDATE();
         }
+        
+        for(int i=0; i<10; i++){
+            position_array[i] = position_array[i+1];
+        }
+        position_array[10] = (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
+        
+        for(int i=0; i<5; i++){
+            input_array[i] = position_array[2*i+2] - (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
+        } 
 
         ADC1->CR2  |= 0x40000000;
         if (SENSING_MODE == 0) {
@@ -1719,12 +1749,6 @@
         //pwm
         TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
         TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
-
-
-
-
-        //anotherMatrix = Matrix1 * Matrix2 * Matrix3 * Matrix3 * Matrix4;
-
         
 
         if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
@@ -1778,10 +1802,6 @@
                 //PWM
                 CAN_TX_PWM((int16_t) cur.sen); //1500
             }
-            if (flag_data_request[3] == LOW) {
-                //PWM
-                CAN_TX_PWM((int16_t) 77); //1500
-            }
             //for (i = 0; i < 10000; i++) {
 //                ;
 //            }