Buyoun Cho / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_210420

[Ver 1.0] The code was given by Seunghoon shin, used for hydraulic quadrupedal robot. Buyoun Cho will revise the code for Post-LIGHT (the robot name is not determined yet).

Dependencies:   mbed FastPWM

Diff: setting.h

Revision:
170:42c938a40313
Parent:
169:645207e160ca
Child:
171:bfc1fd2629d8
--- a/setting.h	Mon Nov 16 02:23:23 2020 +0000
+++ b/setting.h	Wed Nov 18 12:03:39 2020 +0000
@@ -38,8 +38,8 @@
 extern unsigned int value; // 10bit output of reading sensor AS5510
 
 // SPI
-//extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK);
-//extern DigitalOut eeprom_cs;
+extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK);
+extern DigitalOut eeprom_cs;
 extern SPI enc;
 extern DigitalOut enc_cs;
 
@@ -185,7 +185,7 @@
 extern float Ps;
 extern float Pt;
 extern float gamma_hat;
-extern float V;
+extern float V_adapt;
 extern float x_4_des_old;
 
 //extern int16_t VALVE_LIMIT_PLUS;
@@ -435,6 +435,7 @@
 
 extern int timer_while;
 extern int while_index;
+extern int RL_timer;
 
 extern float K_LPF;
 extern float D_LPF;
@@ -462,6 +463,57 @@
 
 
 
+/////////////RL
+#define num_batch           10
+#define num_epoch           1
+#define batch_size          50
+#define num_input_RL        2
+
+extern int batch;
+extern float train_set_x[batch_size];
+extern float train_set_error[batch_size];
+extern float train_set_count[batch_size];
+extern float state_array[batch_size][num_input_RL];
+extern float V[batch_size];
+extern float r[batch_size];
+extern float td_target[batch_size];
+extern float delta[batch_size];
+extern float advantage[batch_size];
+
+extern float mean;
+extern float deviation;
+extern float mean_old;
+extern float deviation_old;
+extern float mean_before_SP;
+extern float deviation_before_SP;
+extern float mean_before_SP_array[batch_size];
+extern float deviation_before_SP_array[batch_size];
+extern float mean_array[batch_size];
+extern float mean_array_old[batch_size];
+extern float deviation_array[batch_size];
+extern float deviation_array_old[batch_size];
+extern float action;
+extern float action_array[batch_size];
+extern float ratio[batch_size];
+extern float pi[batch_size];
+extern float pi_old[batch_size];
+extern float epsilon;
+extern float surr1[batch_size];
+extern float surr2[batch_size];
+extern float loss[batch_size];
+extern float loss_batch;
+extern float gamma;
+extern float lmbda;
+extern char Update_Done_Flag;
+extern char Update_Case;
+extern float reward_sum; 
+
+extern float virt_pos;
+extern float logging1;
+extern float logging2;
+extern float logging3;
+extern float logging4;
+extern float logging5;
 
 
 
@@ -474,4 +526,3 @@
 
 
 
-