void FixedUpdate()
{
//set training lap count and get inputs from sensors
lapCount = Lap.lapCount;
Inputs = GetComponent <Sensor>().sensors;
//get steering and torque during training
double steer = Input.GetAxis("Horizontal");
double torque = Input.GetAxis("Vertical");
//change steering values to be between -1 and 1
if (steer < 0)
{
steer = (steer * 0.5) + 0.5;
}
else if (steer > 0)
{
steer = (steer + 1) / 2;
}
else
{
steer = 0.5;
}
//if still training
if (lapCount <= NoLaps)
{
//feed inputs, backpropogate expected values and hide training panel
backProp.FeedForward(Inputs);
backProp.Propogate(new double[] { steer, torque }, LearningRate);
AutoPanel.SetActive(false);
//when finished training
}
else
{
//set the backprop alg as driver, feed inputs to create outputs
Rigidbody.GetComponent <CarPhysics>().driver = Driver.BackProp;
Outputs = backProp.FeedForward(Inputs);
//set outputs to CarController class
controller.BackPropSteering = Outputs[0];
controller.BackPropEngine = Outputs[1];
//show training panel and tell user to release all controls
AutoPanel.SetActive(true);
if (runOnce)
{
StartCoroutine(CountStart());
runOnce = false;
}
}
}
void FixedUpdate()
{
//Load trained car, get inputs from sensors
LoadChild();
Inputs = GetComponent <Sensor>().sensors;
//feed inputs of sensors, get outputs, and set outputs to CarController class
Outputs = backProp.FeedForward(Inputs);
controller.BackPropSteering = Outputs[0];
controller.BackPropEngine = Outputs[1];
}
public void FeedForward2()
{
// ARRANGE
BackPropNetwork backprop = new BackPropNetwork();
double[] inputs = { 0.6, 0.4, 0.2, 0, 0 };
int expectedlength = 2;
// ACT
double[] outputs = backprop.FeedForward(inputs);
// ASSERT
Assert.That(outputs.Length, Is.EqualTo(expectedlength));
foreach (var output in outputs)
{
Assert.That(output, Is.InRange(-1f, 1f));
}
}