Mastercomponent.emadl 935 Bytes
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package dp;
import dp.subcomponents.*;

component Mastercomponent {
   ports
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        in   Q(0:255)^{3, 210, 280}   imageIn,
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        in   Q(0 m/s:0.1 m/s:100 m/s) speedIn,
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        out  Q(-1:1)^{3}           commandsOut;
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   instance Dpnet dpnet;
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   instance Drivercontroller driverController;
   instance Unnormalizer unnorm;
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   //instance KFMastercomponent kfm;
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   instance SteeringBuffer steeringBuffer;
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   connect imageIn -> dpnet.data;
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   connect dpnet.predictions -> unnorm.normalizedPredictions;
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   //connect un.affordance -> kfm.predictions;
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   //connect kfm.predictionsSmoothed -> driverController.affordanceIn;

   connect unnorm.affordance -> driverController.affordanceIn;
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   connect steeringBuffer.outputBuffer -> driverController.steeringRecordIn;
   connect driverController.steerCmd -> steeringBuffer.inSteerCmd;
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   connect speedIn -> driverController.speedIn;
   connect driverController.commandsOut -> commandsOut;
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}