Hormone for optimizing COT
Dependents: TurtleBot_v01 TurtleBot_with_AHS
Diff: hormone.cpp
- Revision:
- 2:6da425fac1f7
- Parent:
- 1:43249c4dae57
- Child:
- 3:91e508c05dca
--- a/hormone.cpp Sun Aug 19 06:28:06 2018 +0000 +++ b/hormone.cpp Fri Aug 24 10:55:36 2018 +0000 @@ -9,11 +9,27 @@ /*--------------------------------------------------------------------*/ hormone::hormone() { +/* + // flat config // upDegree = 45.00; downDegree = 95.00; cgUp = 45.00; cgDown = 95; - cgUpPrev = 0.6; // hr = 45 - cgDownPrev = 0.5; // hr = 95 - upPreProc = 0.0; downPreProc = 0.0; + cgUpPrev = 0.6; + cgDownPrev = 0.5; +*/ + // small config // + upDegree = 60.00; downDegree = 100.00; + cgUp = 60.00; cgDown = 100; + cgUpPrev = 0.8; + cgDownPrev = 0.3; + +/* + // big config // + upDegree = 75.00; downDegree = 90.00; + cgUp = 75.00; cgDown = 90; + cgUpPrev = 1.0; + cgDownPrev = 0.7; +*/ + //upPreProc = 0.0; downPreProc = 0.0; } /*------------------------< Function comment >------------------------*/ @@ -24,16 +40,18 @@ /*--------------------------------------------------------------------*/ float hormone::upHG(const float G2,const float G4 ) { - - upPreProc = (G2 + G4) / 2; +/* + upPreProc = (G2 + G4) / 2.00f; // hormone gland // cgUp = tanh( (0.7f * upPreProc) + (0.3f * cgUpPrev) ); + //cgUp = tanh( (0.3f * upPreProc) + (0.5f * cgUpPrev) ); cgUpPrev = cgUp; - return 75.00f * cgUp; - - //return 75.00f; + return 75 * cgUp; + //return (50.00f * cgUp) + 30.00f; +*/ + return 60.00f; } @@ -45,16 +63,16 @@ /*--------------------------------------------------------------------*/ float hormone::downHG(const float G2,const float G3 ) { - - downPreProc = (G2 + G3) / 2; +/* + downPreProc = (G2 + G3) / 2.00f; // hormone gland // cgDown = tanh( (0.3f * downPreProc) + (0.5f * cgDownPrev) ); cgDownPrev = cgDown; return (-25.00f * cgDown) + 107.50f; - - //return 90.00f; +*/ + return 100.00f; } /*------------------------< Function comment >------------------------*/