global.h

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00001 #ifndef __GLOBAL_H__
00002 #define __GLOBAL_H__
00003 
00004 #include <avr/io.h>
00005 #include <avr/interrupt.h>
00006 #include <math.h>
00007 
00008 #include <stdlib.h>
00009 
00010 
00011 
00012 
00013 /********************
00014  * global constants *
00015  ********************/
00019 #define F_CPU  11059200UL
00020 #include <avr/delay.h>
00021 
00025 #define MAX_STATES 200
00026 
00030 //#define DELAY_TIME 1200L
00031 #define DELAY_TIME 800L
00032 
00036 #define UP     0x00
00037 #define DOWN   0x01
00038 #define LEFT   0x02
00039 #define RIGHT  0x03
00040 #define NONE    0x04
00041 #define NUM_ACTIONS 0x04
00042 
00046 typedef struct State {
00047      float value;
00048      //unsigned char best_action;
00049      char feedback_up;
00050      char feedback_down;
00051      char feedback_left;
00052      char feedback_right;
00053 } STATE;
00057 #define STATESIZE sizeof(State)
00058 
00059 
00063 #define EXPLORATION_EGREEDY 0
00064 #define EXPLORATION_VALUE_BASED 1
00065 
00066 #endif
00067 

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