worasuchad haomachai
/
hormone
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Dependents: TurtleBot_v01 TurtleBot_with_AHS
Revision 0:df6e371d8665, committed 2018-08-13
- Comitter:
- worasuchad
- Date:
- Mon Aug 13 11:33:22 2018 +0000
- Child:
- 1:43249c4dae57
- Commit message:
- hormone v.1 for optimizing COT
Changed in this revision
| hormone.cpp | Show annotated file Show diff for this revision Revisions of this file |
| hormone.h | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/hormone.cpp Mon Aug 13 11:33:22 2018 +0000
@@ -0,0 +1,99 @@
+#include "hormone.h"
+#include "mbed.h"
+
+/*------------------------< Function comment >------------------------*/
+/* NAME : constructor */
+/* PARAMETERS : - */
+/* RETURN VALUE : - */
+/* DESCRIPTION : - */
+/*--------------------------------------------------------------------*/
+hormone::hormone()
+{
+ upDegree = 45.00; downDegree = 95.00;
+ cgUp = 45.00; cgDown = 95;
+ cgUpPrev = 0.00; cgDownPrev = 0.00;
+ upPreProc = 0.0; downPreProc = 0.0;
+}
+
+/*------------------------< Function comment >------------------------*/
+/* NAME : hormone concentration */
+/* PARAMETERS : - */
+/* RETURN VALUE : - */
+/* DESCRIPTION : - */
+/*--------------------------------------------------------------------*/
+float hormone::upHG(const float G2,const float G4 )
+{
+
+ upPreProc = (G2 + G4) / 2;
+
+ // hormone gland //
+ cgUp = tanh( (0.7f * upPreProc) + (0.3f * cgUpPrev) );
+ cgUpPrev = cgUp;
+
+ return 75.00f * cgUp;
+}
+
+
+/*------------------------< Function comment >------------------------*/
+/* NAME : hormone concentration for servo down */
+/* PARAMETERS : - */
+/* RETURN VALUE : - */
+/* DESCRIPTION : - */
+/*--------------------------------------------------------------------*/
+float hormone::downHG(const float G2,const float G3 )
+{
+
+ downPreProc = (G2 + G3) / 2;
+
+ // hormone gland //
+ cgDown = tanh( (0.3f * downPreProc) + (0.5f * cgDownPrev) );
+ cgDownPrev = cgDown;
+
+ return (-25.00f * cgDown) + 107.5f;
+}
+
+/*------------------------< Function comment >------------------------*/
+/* NAME : hormone receiver for servo up */
+/* PARAMETERS : - */
+/* RETURN VALUE : - */
+/* DESCRIPTION : - */
+/*--------------------------------------------------------------------*/
+float hormone::hormoneRecUp(const float upDeg)
+{
+ upDegree = upDeg;
+
+ if(upDegree < 45.00f )
+ {
+ upDegree = 45.00f;
+ }
+ else if(upDegree > 75.00f)
+ {
+ upDegree = 75.00f;
+ }
+
+ return upDegree;
+}
+
+/*------------------------< Function comment >------------------------*/
+/* NAME : hormone receiver for servo down */
+/* PARAMETERS : - */
+/* RETURN VALUE : - */
+/* DESCRIPTION : - */
+/*--------------------------------------------------------------------*/
+float hormone::hormoneRecDown(const float downDeg)
+{
+ //downDegree = 90.00f*(1.00f-(0.06f*cgDown));
+ downDegree = downDeg;
+
+ if(downDegree < 90.00f)
+ {
+ downDegree = 90.00f;
+ }
+ else if(downDegree > 100.00f)
+ {
+ downDegree = 100.00f;
+ }
+
+ return downDegree;
+}
+/*--------------------------------------------------------------------*/
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/hormone.h Mon Aug 13 11:33:22 2018 +0000
@@ -0,0 +1,21 @@
+#ifndef HORMONE_H
+#define HORMONE_H
+
+#include "mbed.h"
+
+class hormone
+{
+ //protected:
+ public:
+ float upDegree, downDegree;
+ public:
+ float upPreProc, downPreProc;
+ float cgUp, cgDown, cgUpPrev, cgDownPrev;
+ public:
+ hormone();
+ float upHG(const float G2, const float G4 );
+ float downHG(const float G2, const float G3);
+ float hormoneRecUp(const float upDeg);
+ float hormoneRecDown(const float downDeg);
+};
+#endif
\ No newline at end of file