Hormone for optimizing COT

Dependents:   TurtleBot_v01 TurtleBot_with_AHS

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 >------------------------*/