-
Notifications
You must be signed in to change notification settings - Fork 0
/
belbic.py
74 lines (47 loc) · 1.2 KB
/
belbic.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
import calc
# initial values
alpha = 0.45
beta = 0.01
kp = 3.98
ki = 0.58
kd = 0.63
h = 0.01
iMax = 3.3
def SI(e, eant, iant):
# print(f'eant: ', eant)
# print(f'iant: ', iant)
global h
P = e * kp
I = iant + (ki * h) * (e + eant)
D = (kd/h) * (e - eant)
if (I > iMax):
I = iMax
elif (I <= 0):
I = 0
dedt = (e - eant)/h
si = P + I + D
# print(f'SI: ', si)
# print(f'dedt: ', dedt)
return si, dedt, e, I
def thalamus(sensors_input):
Ath = calc.Ath(sensors_input)
print(f'Ath: ', Ath)
print(f'sensors_input', sensors_input)
return sensors_input, Ath
def sensory_cortex(sensors_input, rew, A, E_dot, vi, wi):
global alpha
global beta
viNew = calc.delta_vi(alpha, sensors_input, rew, A) + vi
wiNew = calc.delta_wi(beta, sensors_input, rew, E_dot) + wi
return viNew, wiNew
def orbifrontal_cortex(wi, sensors_input, A, O, rew):
O = calc.Ot(wi, sensors_input)
E_dot = calc.e_dot(A, O) * rew
return O, E_dot
def amygdala(vi, sensors_input, A, O, rew):
# A.append(Ath)
A = calc.Am(vi, sensors_input)
E = calc.e(A, O) * rew
return A, E
def run(alpha, beta):
return None