SimplestModule.rct

module SegwayANN2 {
	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 angle to stm_ref0 on angle
		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_ref3 on rotationOutputE to stm_ref0 on rotationOutputE
		connection stm_ref0 on rdiff to stm_ref3 on rdiff
		
	sref stm_ref3 = RotationPID
		connection SegwayController on angleOutputE to stm_ref0 on angleOutputE
		
	}
	
	rref rp_ref0 = SegwayRP
	
	anncontroller AnglePIDANN {
		params {
			inputcontext {
				uses ANNInput
			}
			outputcontext {
				uses ANNOutput
			}
			layerstructure <1,1>
			weights << < 1.22838 , 0.132874 > > , < < 0.744636 > > >
			biases <<0.125424>, < -0.107753>>
			activationfunction relu
			
		}
	}
	

	connection rp_ref0 on angle to SegwayController on angle ( _async )
	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 rp_ref0 on leftMotorVelocity to SegwayController on leftMotorVelocity ( _async )
	connection rp_ref0 on rightMotorVelocity to SegwayController on rightMotorVelocity ( _async )


	connection SegwayController on anewError to AnglePIDANN on anewError
	connection AnglePIDANN on angleOutputE to SegwayController on angleOutputE
	connection SegwayController on adiff to AnglePIDANN on adiff

}