Buyoun Cho / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_210420

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Dependencies:   mbed FastPWM

Files at this revision

API Documentation at this revision

Revision 121:89396c37b03e, committed 2020-09-15

Comitter:
Lightvalve
Date:
Tue Sep 15 00:22:01 2020 +0000
Parent:
120:17398540bb1c
Child:
122:dcb3ce3056a0
Commit message:
200915-1

Changed in this revision

CAN/function_CAN.cpp Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
setting.h Show annotated file Show diff for this revision Revisions of this file 
--- a/CAN/function_CAN.cpp	Mon Sep 14 13:12:44 2020 +0000
+++ b/CAN/function_CAN.cpp	Tue Sep 15 00:22:01 2020 +0000
@@ -752,10 +752,10 @@
         }
         x_past[num_array_x_past-1] = pos.sen / ENC_PULSE_PER_POSITION;   //mm
         
-//        for(int i=0;i<num_array_x_future-1;i++){
-//            x_future[i] = x_future[i+1];
-//        }
-//        x_future[num_array_x_future-1] = pos.sen / ENC_PULSE_PER_POSITION;  //mm
+        for(int i=0;i<num_array_x_future-1;i++){
+            x_future[i] = x_future[i+1];
+        }
+        x_future[num_array_x_future-1] = pos.sen / ENC_PULSE_PER_POSITION;  //mm
         
         for(int i=0; i<num_array_f_past-1;i++){
             f_past[i] = f_past[i+1];

--- a/main.cpp	Mon Sep 14 13:12:44 2020 +0000
+++ b/main.cpp	Tue Sep 15 00:22:01 2020 +0000
@@ -1,4 +1,4 @@
-//200914-4
+//200915-1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -397,10 +397,11 @@
             }
             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<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;

--- a/setting.h	Mon Sep 14 13:12:44 2020 +0000
+++ b/setting.h	Tue Sep 15 00:22:01 2020 +0000
@@ -427,18 +427,18 @@
 //extern const int num_input ;
 //extern const int num_input_array;
 
-#define     numpast_u           5
+#define     numpast_u           0
 #define     numpast_x           5
-#define     numfuture_x         0
+#define     numfuture_x         5
 #define     numpast_f           5
 #define     numfuture_f         10
 #define     num_input           27  //numpast_x + 1 + numfuture_x + numpast_f + 1 + numfuture_f
 
-#define     num_array_u_past        11  // numpast_u * time_interval + 1
+#define     num_array_u_past        1  // numpast_u * time_interval + 1
 #define     num_array_f_future      11  // numfuture_f * time_interval + 1
 #define     num_array_f_past        6  // numpast_f * time_interval + 1        
 #define     num_array_x_past        6  // numpast_x * time_interval + 1      
-#define     num_array_x_future      1  // numfuture_x * time_interval + 1
+#define     num_array_x_future      6  // numfuture_x * time_interval + 1
 
 #define     time_interval           1