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: main.cpp

Revision:
162:9dd4f35e9de8
Parent:
161:a3b26117104c
Child:
163:ba1290eb0341
--- a/main.cpp	Mon Oct 12 10:28:55 2020 +0000
+++ b/main.cpp	Mon Oct 12 10:48:56 2020 +0000
@@ -380,35 +380,35 @@
         
         else if(NN_Control_Flag == 1) {
             
-//            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;
+            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[time_interval*i+time_interval] / 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[time_interval*i+time_interval] / 60.0f;
-////                ind = ind + 1;
-////            }
-//
-//            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[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
+
+            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[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
 //                input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
-//                ind = ind + 1;
-//            }
+                ind = ind + 1;
+            }
             
             float output1[16] = { 0.0f };
             float output2[16] = { 0.0f };