Diff: main.cpp

Revision:

84:c355d3e52bf1

Parent:

83:b5bba84861d8

Child:

85:a3b46118b5cd

--- a/main.cpp	Mon Jul 06 11:21:16 2020 +0000
+++ b/main.cpp	Sat Jul 11 06:52:32 2020 +0000
@@ -1,4 +1,4 @@
-//200706-2
+//200710-1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -192,104 +192,104 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][32] = { 
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-{-0.6434633135795593f,0.4447077512741089f,0.29864487051963806f,-0.7598307132720947f,-1.1791192293167114f,-0.12712815403938293f,0.08595754206180573f,1.5064747333526611f,0.5368416905403137f,-0.20615486800670624f,-0.31037288904190063f,-0.04174898564815521f,0.021212786436080933f,0.1555272340774536f,0.045876264572143555f,-0.6860443949699402f,0.0016684229485690594f,0.06295260787010193f,1.1617164611816406f,0.634861946105957f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,-0.058263760060071945f,0.2936786115169525f,0.12686115503311157f,-0.4291762411594391f,-0.46424031257629395f,0.09809011220932007f,-0.9078341126441956f,0.5122535228729248f},
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-{0.2939143776893616f,0.39517512917518616f,0.08410122990608215f,-0.7896490693092346f,-0.47038841247558594f,0.06861976534128189f,0.08671513199806213f,-3.0042169094085693f,-0.10469677299261093f,0.04593042656779289f,-0.26959267258644104f,0.2231915295124054f,0.211430162191391f,0.21202363073825836f,-0.25075238943099976f,-0.12917086482048035f,-0.3270207345485687f,-0.18436601758003235f,-0.2025948464870453f,-0.5085486173629761f,0.1375632882118225f,0.23587647080421448f,-0.24541926383972168f,-0.07457953691482544f,-0.06533367186784744f,-0.34256690740585327f,0.04057341814041138f,-1.2647837400436401f,0.46373140811920166f,-0.16320037841796875f,0.9752013087272644f,-0.4512197971343994f},
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 };
 
 const float h2[32][32] = { 
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 };
 
 const float h3[32][32] = { 
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+{-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.18659290671348572f,-0.17816488444805145f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.06991848349571228f,-0.19175665080547333f,0.28649166226387024f,0.016488296911120415f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.18354694545269012f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.06563670933246613f},
+{0.07638216018676758f,0.05416220799088478f,-0.3668074607849121f,-0.27526140213012695f,0.14193227887153625f,-0.03358025848865509f,0.2795381247997284f,-0.25668495893478394f,-0.06847190111875534f,0.10313618183135986f,0.06818969547748566f,0.02524423599243164f,0.12337286025285721f,0.24906043708324432f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.13714706897735596f,0.241392120718956f,0.15146386623382568f,-0.03257722035050392f,-0.19373025000095367f,-0.17324526607990265f,0.18035846948623657f,0.1901901364326477f,-0.2794223725795746f,-0.0292219091206789f,-0.143522247672081f,0.22636333107948303f,-0.3317090570926666f,0.16370397806167603f},
 };
 
-const float hout[32] = { 0.3285340666770935f,0.13846565783023834f,-0.07104799896478653f,0.18257376551628113f,-0.16361720860004425f,0.11612511426210403f,0.03588892146945f,0.1081397533416748f,0.11910854279994965f,0.10337844491004944f,0.13150642812252045f,-0.11640904098749161f,-0.23372183740139008f,0.1647065281867981f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.21499931812286377f,0.0772331953048706f,-0.07612764835357666f,-0.23285314440727234f,-0.18265759944915771f,0.04004863277077675f,-0.11024488508701324f,0.2793011963367462f,0.2669006288051605f,-0.3283284902572632f,-0.8490635752677917f,0.3065551519393921f,-0.3257754445075989f,-0.22434811294078827f,-0.19677908718585968f };
+const float hout[32] = { 0.3285340666770935f,0.20001740753650665f,-0.34911248087882996f,0.7785994410514832f,-0.3811017870903015f,0.192925363779068f,0.11950510740280151f,0.1081397533416748f,0.05394027382135391f,-0.08027924597263336f,0.3785701394081116f,-0.11859139055013657f,-0.06000533699989319f,0.5311194062232971f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.21499931812286377f,-0.2335696816444397f,0.5094234943389893f,-0.02162783592939377f,-0.07713251560926437f,-0.16340212523937225f,-0.175692617893219f,-0.5511316657066345f,0.0982658639550209f,-0.19307535886764526f,0.005460194777697325f,0.03202202543616295f,-0.3257754445075989f,-0.31206440925598145f,0.38066837191581726f };
 
-const float b1[32] = { 0.5102354884147644f,1.4454234838485718f,-1.7145336866378784f,-0.13135932385921478f,1.8859272003173828f,0.7050048112869263f,-0.08465349674224854f,1.0487871170043945f,0.858688235282898f,-1.6059504747390747f,0.5568068623542786f,2.217176675796509f,-0.3425353467464447f,-0.9377808570861816f,-1.087764859199524f,0.9572884440422058f,0.5541136860847473f,-0.26377663016319275f,-0.449740469455719f,0.5352871417999268f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,3.0480804443359375f,-2.0880801677703857f,-1.0489267110824585f,0.9022058844566345f,0.2357945293188095f,-1.0887231826782227f,2.7682852745056152f,-0.5293285846710205f };
+const float b1[32] = { 0.4585856795310974f,1.5599967241287231f,-1.7145336866378784f,-0.5815920829772949f,1.7490010261535645f,0.693375289440155f,-0.12202438712120056f,1.839867115020752f,1.4444961547851562f,-1.156732439994812f,0.5561704039573669f,2.925478458404541f,-0.3425353467464447f,-0.9403132796287537f,-1.087764859199524f,1.6783026456832886f,0.7627432346343994f,-0.26377663016319275f,0.9854183793067932f,1.2830049991607666f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,3.647984266281128f,-2.0880801677703857f,-1.0489267110824585f,0.8671233654022217f,0.2414611577987671f,-1.0887231826782227f,2.1772990226745605f,-0.44598740339279175f };
 
-const float b2[32] = { -0.3680103123188019f,-0.7642630338668823f,-1.4564176797866821f,-0.6497427821159363f,-0.6939148902893066f,-0.020249705761671066f,-0.372101366519928f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.023847151547670364f,0.5569860935211182f,-0.2355569750070572f,1.793886423110962f,-0.5586162209510803f,1.0859285593032837f,-1.798204779624939f,-1.5844906568527222f,0.009519282728433609f,-0.46726593375205994f,0.49785974621772766f,0.052135393023490906f,-0.07042714953422546f,-1.0452868938446045f,0.25523853302001953f,2.1917080879211426f,0.15757890045642853f,-0.2608587145805359f,-0.7634363770484924f,-0.5724443197250366f,-1.323826551437378f,-1.3565272092819214f };
+const float b2[32] = { -0.22200508415699005f,-0.7642630338668823f,-1.4564176797866821f,-0.4980332851409912f,-0.6939148902893066f,-0.028987569734454155f,0.14226511120796204f,-0.4531817138195038f,-1.20063054561615f,-1.912178635597229f,0.01248383428901434f,0.14814351499080658f,-0.21863840520381927f,2.2132997512817383f,0.4528786838054657f,1.145101547241211f,-1.798204779624939f,-1.5844906568527222f,-0.08603224903345108f,-0.3332130014896393f,-0.0870656743645668f,-0.025959404185414314f,0.03327740728855133f,-1.189407467842102f,1.1251391172409058f,1.414678692817688f,0.012956145219504833f,-0.15001332759857178f,-0.6323830485343933f,-0.5580381155014038f,-1.2962936162948608f,-1.488829255104065f };
 
-const float b3[32] = { -1.963319182395935f,-0.5446904301643372f,-0.3016548156738281f,-0.8402144312858582f,-0.6773909330368042f,0.8409193754196167f,-0.6582568883895874f,-0.6562485098838806f,-0.009772130288183689f,-0.06044171005487442f,1.192558765411377f,-0.5217856168746948f,-1.4038946628570557f,-0.7718222141265869f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0192245244979858f,-0.9686634540557861f,-0.27930739521980286f,-3.1515591144561768f,-1.206493854522705f,-1.1485735177993774f,-0.8956993222236633f,0.4146289527416229f,-1.1049379110336304f,-0.12451136857271194f,-1.522766351699829f,-1.0368304252624512f,-2.3236680030822754f,-0.17192073166370392f,1.6605290174484253f };
+const float b3[32] = { -1.963319182395935f,-0.5214390158653259f,-0.02191949263215065f,-0.8819749355316162f,-1.4401051998138428f,0.9515159726142883f,-0.5303202867507935f,-0.6562485098838806f,-0.0017350538400933146f,-0.04748106747865677f,-0.5597951412200928f,-0.10345426201820374f,-1.1365820169448853f,-0.029138414189219475f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0192245244979858f,-1.5457112789154053f,-0.15714126825332642f,-0.006691883783787489f,-0.8062649369239807f,-1.1899834871292114f,-0.8066051602363586f,-0.8363364338874817f,-0.5234388709068298f,-0.3238477408885956f,-1.4527530670166016f,-0.2316749542951584f,-2.3236680030822754f,-0.08294112235307693f,1.1520551443099976f };
 
-const float bout[1] = { -0.11106075346469879f };
+const float bout[1] = { -0.029729647561907768f };
 
 
 int main()
@@ -734,7 +734,7 @@
                         CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
                         CUR_TORQUE_sum = 0;
 
-                        TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
+                        TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
 
                         if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
                         if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;