SegwayANN.rct

diagram SegwayANN

interface ANNInput {
	event anewError:real
	event adiff:real
}

interface ANNOutput {
	event angleOutputE:real
}

module SegwayANN {
	controller SegwayController {
		uses HallSensorsI uses IMUI uses AnglePIDVars requires MotorsI requires InterruptsI
		
	sref stm_ref0 = BalanceSTM
		connection SegwayController on leftMotorVelocity to stm_ref0 on leftMotorVelocity
		connection SegwayController on rightMotorVelocity to stm_ref0 on rightMotorVelocity

		connection SegwayController on gyroX to stm_ref0 on gyroX
		connection SegwayController on gyroY to stm_ref0 on gyroY
		connection SegwayController on gyroZ to stm_ref0 on gyroZ
		connection stm_ref0 on anewError to SegwayController on anewError
		connection stm_ref0 on adiff to SegwayController on adiff

		connection stm_ref2 on speedOutputE to stm_ref0 on speedOutputE
		connection stm_ref0 on snewError to stm_ref2 on snewError
	sref stm_ref2 = SpeedPID

		connection stm_ref0 on rdiff to stm_ref3 on rdiff
		
	sref stm_ref3 = RotationPID

		connection SegwayController on angle to stm_ref0 on angle
		connection stm_ref3 on rotationOutputE to stm_ref0 on rotationOutputE

		connection SegwayController on angleOutputE to stm_ref0 on angleOutputE
		
	}
	
	rref rp_ref0 = SegwayRP

	anncontroller AnglePIDANN {
		params { inputcontext {
				ordevent anewError:real 1
				ordevent adiff:real 2

		}

		outputcontext {
			ordevent angleOutputE:real 1
		}

		layerstructure < 1 , 1 > weights < < < 1.22838 , 0.132874 > > , < < 0.744636 > > > biases < < 0.125424 > , < - 0.107753 > > activationfunction relu 
		inRanges <(|-30.0, 30.0|), (|-250.0, 250.0|)> outRanges <(| -1950.0, 1950.0|)> annRange (| 0.0,1.0|)
		}
	}
	connection rp_ref0 on gyroX to SegwayController on gyroX ( _async )
	connection rp_ref0 on gyroY to SegwayController on gyroY ( _async )
	connection rp_ref0 on gyroZ to SegwayController on gyroZ ( _async )

	connection SegwayController on anewError to AnglePIDANN on anewError

	connection AnglePIDANN on angleOutputE to SegwayController on angleOutputE

	connection rp_ref0 on angle to SegwayController on angle ( _async )

	connection SegwayController on adiff to AnglePIDANN on adiff

	connection rp_ref0 on leftMotorVelocity to SegwayController on leftMotorVelocity ( _async )

	connection rp_ref0 on rightMotorVelocity to SegwayController on rightMotorVelocity ( _async )
}