Diff: main.cpp

Revision:

180:02be1711ee0b

Parent:

179:d5377766d7ea

Child:

181:2a8b5f3274be

--- a/main.cpp	Mon Dec 14 05:27:22 2020 +0000
+++ b/main.cpp	Tue Dec 15 00:19:25 2020 +0000
@@ -1,4 +1,4 @@
-//201214-1
+//201215-1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -198,72 +198,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = {
-    {-0.6526780724525452f,0.7266743183135986f,0.12903714179992676f,-0.23237967491149902f,-0.9990780353546143f,0.7280523777008057f,-0.17472904920578003f,-0.3780243396759033f,-0.5318458676338196f,-0.6824988722801208f,-0.24376395344734192f,-1.2289026975631714f,-0.259793758392334f,-0.5339483022689819f,-0.2571594715118408f,-0.9135630130767822f},
-{-0.6027737259864807f,0.5964298844337463f,-0.3927857577800751f,-0.40050771832466125f,-0.8369812965393066f,0.3892684876918793f,-0.4054011106491089f,-0.3723553717136383f,-0.264297217130661f,-0.22327673435211182f,-0.2805407643318176f,-0.9518417716026306f,0.24001067876815796f,-0.9143947958946228f,-0.20967772603034973f,-0.5016147494316101f},
-{-0.5003423094749451f,0.3953498303890228f,0.36391180753707886f,-0.6117674708366394f,-0.35621193051338196f,0.361548513174057f,0.2872133255004883f,-0.059537652879953384f,-0.28272250294685364f,-0.01068309135735035f,-0.3544096052646637f,-0.7833338975906372f,0.0019771659281104803f,-0.2590618431568146f,0.05590221285820007f,-0.6216552257537842f},
-{-0.1946873813867569f,-0.1142597571015358f,0.39742106199264526f,0.20069332420825958f,-0.016939876601099968f,-0.28546977043151855f,-0.11584559082984924f,0.3479021489620209f,-0.01779201813042164f,0.38596200942993164f,0.08943979442119598f,-0.122506283223629f,-0.15994226932525635f,-0.14522784948349f,-0.2961459457874298f,-0.11170782893896103f},
-{0.6847711205482483f,-0.3565831780433655f,-0.0051451027393341064f,0.39627134799957275f,0.45064908266067505f,-0.4076618254184723f,0.1294034719467163f,0.16528914868831635f,0.07129872590303421f,0.6038545370101929f,0.34140077233314514f,-0.026348024606704712f,-0.06323867291212082f,0.27155500650405884f,-0.3865056037902832f,-0.07509569823741913f},
-{1.483199954032898f,-1.5428612232208252f,0.21773302555084229f,0.7692314386367798f,1.2946882247924805f,-1.288189172744751f,0.16514194011688232f,0.11058115214109421f,0.17132356762886047f,1.1954634189605713f,-0.25413116812705994f,0.6743490695953369f,-0.25959381461143494f,0.8003392219543457f,-0.4132833778858185f,0.46136754751205444f},
-{-0.8217329382896423f,0.7089616060256958f,-0.2501986622810364f,-0.875395655632019f,-1.1229442358016968f,0.9968200922012329f,0.06014183163642883f,-0.8439451456069946f,-0.05617062747478485f,-0.4700510501861572f,0.14294663071632385f,0.6414217352867126f,-0.1638868898153305f,-0.2370987981557846f,-0.15618428587913513f,-0.625933825969696f},
-{-0.463580846786499f,0.05003904551267624f,-0.26619744300842285f,-0.08971554040908813f,-0.7169193625450134f,0.23099951446056366f,-0.17925891280174255f,-0.6943695545196533f,-0.25526830554008484f,-0.034314900636672974f,0.09723648428916931f,0.6139658093452454f,0.38060376048088074f,-0.1769549399614334f,0.04303058981895447f,-0.12070699036121368f},
-{0.1414080113172531f,0.1877378225326538f,0.10248100757598877f,-0.30372604727745056f,-0.12201636284589767f,0.022746695205569267f,-0.07246989011764526f,-0.6118704676628113f,-0.42743170261383057f,0.6341602206230164f,-0.30540645122528076f,1.4260834455490112f,0.23858578503131866f,0.21455851197242737f,-0.30555272102355957f,0.25425052642822266f},
-{0.10944874584674835f,-0.5504550337791443f,0.18462657928466797f,0.05500239133834839f,0.38295459747314453f,-0.040897730737924576f,-0.2990540862083435f,-0.22474081814289093f,-0.1015893891453743f,0.014746497385203838f,-0.016399379819631577f,0.7377010583877563f,0.38201630115509033f,-0.09081173688173294f,0.3484981060028076f,0.18850760161876678f},
-{0.6069241166114807f,-0.18160517513751984f,0.37182438373565674f,0.39484986662864685f,0.2415466606616974f,-0.2599449157714844f,-0.20339298248291016f,-0.14145439863204956f,-0.5059540271759033f,0.4776276648044586f,0.34025880694389343f,0.7560402154922485f,-0.05657690018415451f,0.09265313297510147f,0.26688337326049805f,-0.17793112993240356f},
-{-0.23725034296512604f,-0.5791488885879517f,-0.40320003032684326f,0.0452105812728405f,0.27909013628959656f,-0.27708446979522705f,0.1533789038658142f,0.1997886300086975f,-0.24218705296516418f,0.5504290461540222f,-0.42232224345207214f,0.8678635358810425f,0.15488487482070923f,-0.013335001654922962f,0.10493969917297363f,0.015422948636114597f},
-{-0.0060953362844884396f,-0.2789563536643982f,0.19847965240478516f,0.0860355794429779f,0.38908523321151733f,-0.01648942194879055f,-0.2404318004846573f,-0.07731665670871735f,-0.2765587270259857f,0.02809620089828968f,-0.11712735891342163f,0.11512216180562973f,0.10241620987653732f,-0.06552530825138092f,-0.22268100082874298f,-0.31739288568496704f},
-{-0.17114806175231934f,-0.10933959484100342f,0.4127817749977112f,-0.2523573637008667f,-0.24868325889110565f,-0.3818814158439636f,-0.32001304626464844f,-0.5396589040756226f,-0.21919101476669312f,-0.10611488670110703f,-0.20302052795886993f,-0.15492098033428192f,-0.3021690249443054f,-0.19007131457328796f,0.0479682981967926f,0.15465888381004333f},
-{0.04039499908685684f,0.07923353463411331f,0.20282304286956787f,-0.21126452088356018f,0.2369239777326584f,-0.20800116658210754f,0.04202890396118164f,0.06752092391252518f,0.25217023491859436f,0.06576687842607498f,-0.2873592674732208f,-0.705759584903717f,0.11435109376907349f,-0.2376958578824997f,0.0668090283870697f,0.16948974132537842f},
-{-0.1650223582983017f,-0.30675071477890015f,-0.40439701080322266f,-0.3783135414123535f,-0.27307847142219543f,-0.09857283532619476f,-0.15568238496780396f,-0.08766567707061768f,0.21709603071212769f,-0.02477334812283516f,-0.4817592203617096f,-0.5585556030273438f,-0.2601439654827118f,-0.1273980438709259f,-0.08245879411697388f,0.2804436981678009f},
-{-0.0361105240881443f,-0.32941773533821106f,0.16706281900405884f,-0.1172998696565628f,0.01294353324919939f,-0.5389335751533508f,-0.041414469480514526f,0.1465616226196289f,0.04248951002955437f,0.21840494871139526f,-0.3614332377910614f,-0.21242284774780273f,0.12316523492336273f,0.3939219117164612f,0.29427415132522583f,0.3293007016181946f},
+    {-1.2747926712036133f,0.8866214156150818f,0.12903714179992676f,0.1954565942287445f,-1.0775936841964722f,1.0385150909423828f,-0.17472904920578003f,1.2043118476867676f,-1.0528837442398071f,0.16233131289482117f,-0.23384490609169006f,-0.9654906988143921f,-0.26406702399253845f,0.45232266187667847f,-0.2571594715118408f,-1.4159953594207764f},
+{-0.9898881912231445f,0.5978912115097046f,-0.3927857577800751f,-0.10504250973463058f,-0.7563983798027039f,0.5094512104988098f,-0.4054011106491089f,1.1116833686828613f,-0.4969346523284912f,0.41541942954063416f,-0.2706531882286072f,-0.5124550461769104f,0.23551900684833527f,-0.0996662825345993f,-0.20967772603034973f,-0.7428423166275024f},
+{-0.6586143970489502f,0.2526506185531616f,0.36391180753707886f,-0.44479653239250183f,-0.12272748351097107f,0.29624244570732117f,0.2872133255004883f,1.3258525133132935f,-0.23638273775577545f,0.4212562143802643f,-0.34454482793807983f,-0.2005833387374878f,-0.002771292580291629f,0.36579757928848267f,0.05590221285820007f,-0.5957719087600708f},
+{-0.17435620725154877f,-0.34709569811820984f,0.39742106199264526f,0.23025836050510406f,0.31759893894195557f,-0.48005908727645874f,-0.11584559082984924f,1.618665337562561f,0.2961588501930237f,0.5570516586303711f,0.09927701205015182f,0.5736197233200073f,-0.1649491935968399f,0.2608615458011627f,-0.2961459457874298f,0.12930260598659515f},
+{0.7618234157562256f,-0.5603615045547485f,-0.0051451027393341064f,0.19888998568058014f,0.7619378566741943f,-0.606192409992218f,0.1294034719467163f,1.2932729721069336f,0.6787902116775513f,0.37368881702423096f,0.3512172996997833f,0.7094911336898804f,-0.06857605278491974f,0.38823315501213074f,-0.3865056037902832f,0.2566696107387543f},
+{1.4753985404968262f,-1.5749534368515015f,0.21773302555084229f,0.24970105290412903f,1.438091516494751f,-1.3410722017288208f,0.16514194011688232f,1.0581666231155396f,1.1054584980010986f,0.38477128744125366f,-0.2443389892578125f,1.3622721433639526f,-0.26528480648994446f,0.5235674381256104f,-0.4132833778858185f,0.7429633736610413f},
+{-0.1381414830684662f,0.32296326756477356f,-0.2501986622810364f,-0.6822501420974731f,-0.6484224200248718f,0.3961770534515381f,0.06014183163642883f,-1.9562623500823975f,0.14606209099292755f,-0.30881643295288086f,0.15261518955230713f,-0.10579380393028259f,-0.17127792537212372f,-0.04263466224074364f,-0.15618428587913513f,-0.033108823001384735f},
+{0.10407276451587677f,-0.17438587546348572f,-0.26619744300842285f,-0.10469675064086914f,-0.40487462282180786f,-0.18597395718097687f,-0.17925891280174255f,-1.6444649696350098f,-0.010120101273059845f,-0.23186346888542175f,0.10695241391658783f,-0.2862721085548401f,0.37284889817237854f,-0.23048385977745056f,0.04303058981895447f,0.28026261925697327f},
+{0.30488404631614685f,0.349077045917511f,0.10248100757598877f,-0.5642396211624146f,-0.1891011893749237f,0.013860803097486496f,-0.07246989011764526f,-1.5340245962142944f,-0.27067628502845764f,0.018050722777843475f,-0.2956160306930542f,0.1977348029613495f,0.23040179908275604f,-0.1158660352230072f,-0.30555272102355957f,0.28618332743644714f},
+{0.10323967039585114f,-0.2507255971431732f,0.18462657928466797f,-0.2965702414512634f,0.1769070029258728f,0.11360282450914383f,-0.2990540862083435f,-1.0921586751937866f,0.046090397983789444f,-0.784417986869812f,-0.0066079325042665005f,-0.54339599609375f,0.3733484447002411f,-0.531656801700592f,0.3484981060028076f,0.09402719140052795f},
+{0.5437068939208984f,0.12157454341650009f,0.37182438373565674f,0.10810510069131851f,0.017796188592910767f,-0.06259164214134216f,-0.20339298248291016f,-0.9021218419075012f,-0.41913050413131714f,-0.2746804654598236f,0.35008612275123596f,-0.3781108260154724f,-0.06551998108625412f,-0.29703405499458313f,0.26688337326049805f,-0.31737634539604187f},
+{-0.24231690168380737f,-0.3807550072669983f,-0.40320003032684326f,-0.135234072804451f,0.13232052326202393f,-0.12746357917785645f,0.1533789038658142f,-0.46155455708503723f,-0.13511259853839874f,-0.08907300978899002f,-0.41252845525741577f,0.06504666805267334f,0.14570680260658264f,-0.2993526756763458f,0.10493969917297363f,-0.09489677101373672f},
+{0.0872870460152626f,-0.23291699588298798f,0.19847965240478516f,0.02823140099644661f,0.37074705958366394f,0.040752362459897995f,-0.2404318004846573f,-0.586179256439209f,-0.11466588079929352f,-0.4817463457584381f,-0.10735541582107544f,-0.3017888367176056f,0.09303940832614899f,-0.2488478273153305f,-0.22268100082874298f,-0.37364980578422546f},
+{-0.051991432905197144f,-0.12674333155155182f,0.4127817749977112f,-0.19834384322166443f,-0.20412969589233398f,-0.3441471755504608f,-0.32001304626464844f,-0.9517143368721008f,-0.07627648115158081f,-0.5058509111404419f,-0.1932433545589447f,-0.2879234254360199f,-0.31180211901664734f,-0.30530187487602234f,0.0479682981967926f,0.06262191385030746f},
+{0.10936000198125839f,0.09897122532129288f,0.20282304286956787f,-0.03914237394928932f,0.2795373797416687f,-0.11763463914394379f,0.04202890396118164f,-0.4100075960159302f,0.23455728590488434f,-0.19801537692546844f,-0.27762651443481445f,-0.6615355014801025f,0.10450632870197296f,-0.29707828164100647f,0.0668090283870697f,-0.0025110316928476095f},
+{-0.07633624225854874f,-0.29659169912338257f,-0.40439701080322266f,-0.18466457724571228f,-0.17516319453716278f,-0.013456307351589203f,-0.15568238496780396f,-0.6675025224685669f,0.1871490478515625f,-0.28267568349838257f,-0.4720761179924011f,-0.25658828020095825f,-0.2701036036014557f,-0.2391444593667984f,-0.08245879411697388f,0.0812353640794754f},
+{-0.1064588725566864f,-0.12016399204730988f,0.16706281900405884f,0.007519781589508057f,-0.017588406801223755f,-0.26146987080574036f,-0.041414469480514526f,-0.6730034947395325f,-0.06899238377809525f,-0.18613839149475098f,-0.3516925573348999f,0.1851750761270523f,0.11302956193685532f,0.11544660478830338f,0.29427415132522583f,-0.08377157896757126f},
 };
 
 const float h2[16][16] = {
-    {-1.233986258506775f,1.6802256107330322f,-0.06966331601142883f,-0.005499060265719891f,-0.21907491981983185f,2.1583659648895264f,-0.038234543055295944f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.3416220247745514f,-0.20333009958267212f,-0.031739287078380585f,-1.315596342086792f,-0.19554688036441803f,-0.5387665629386902f},
-{0.38715651631355286f,-0.9310109615325928f,0.057057321071624756f,-0.06171989068388939f,-0.35503754019737244f,-0.85040283203125f,-0.8426902890205383f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-2.0213239192962646f,-0.858361005783081f,0.0845860168337822f,1.210322618484497f,-2.3236031532287598f,-0.8304648995399475f},
+    {-0.48791801929473877f,0.6882094144821167f,-0.06966331601142883f,0.004637989681214094f,-0.21907491981983185f,0.06930378824472427f,0.07693875581026077f,0.036887940019369125f,-0.43008196353912354f,-0.1415480375289917f,-0.5828585028648376f,-0.32945704460144043f,-0.008075037971138954f,-1.5241717100143433f,-0.2089289128780365f,-0.7718607783317566f},
+{0.04395662993192673f,-1.437508463859558f,0.057057321071624756f,-0.12063508480787277f,-0.35503754019737244f,-0.8848034143447876f,-0.41094034910202026f,-0.34160447120666504f,-0.33757925033569336f,0.2895788848400116f,-1.4832773208618164f,-0.636014461517334f,0.19798265397548676f,0.9338656067848206f,-0.30581197142601013f,-0.20769454538822174f},
 {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
-{-0.1391567885875702f,0.03293241187930107f,-0.2894435524940491f,0.25554025173187256f,0.08946844935417175f,0.1340968757867813f,-0.39087218046188354f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.7025435566902161f,0.05798906087875366f,-0.5013425946235657f,-0.030901746824383736f,-0.06675297021865845f,-0.0446302704513073f},
-{-1.1762845516204834f,0.8597515821456909f,-0.25313520431518555f,0.19948269426822662f,0.036378175020217896f,1.304591417312622f,-0.5957030653953552f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-3.7821712493896484f,-0.7977238893508911f,-0.022602174431085587f,-1.1103366613388062f,-0.7675935626029968f,-0.537284791469574f},
-{0.6562917828559875f,-0.22383058071136475f,-0.3519742488861084f,0.3241978883743286f,-0.3015052080154419f,-0.2545274496078491f,-0.744201123714447f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-2.186229944229126f,-0.48980283737182617f,-0.45957082509994507f,0.5824981927871704f,-0.22895494103431702f,-0.7663227319717407f},
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 };
 
 const float h3[16][16] = {
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+{0.15459725260734558f,0.28715085983276367f,-0.1975911408662796f,-0.10847480595111847f,-0.338723361492157f,0.37625446915626526f,-0.08742031455039978f,0.05785742402076721f,0.5200075507164001f,-0.4833226799964905f,0.5273776054382324f,-0.30447322130203247f,-0.10086123645305634f,0.042644109576940536f,0.4391385018825531f,0.3226448595523834f},
+{-0.408692330121994f,-0.15486499667167664f,0.3066166341304779f,0.0922636091709137f,0.1873702108860016f,-0.4056578278541565f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4213770925998688f,-0.472481369972229f,-0.3355949819087982f,0.31626954674720764f},
+{-0.2991822361946106f,0.3794580399990082f,0.06649655848741531f,-0.11694668978452682f,0.2296813577413559f,0.09872535616159439f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.1595783829689026f,-0.28000524640083313f,0.36124154925346375f,-0.16869547963142395f},
+{-0.2675279378890991f,-0.1804099678993225f,0.5291721224784851f,-0.09164145588874817f,0.8961657881736755f,-0.9392423629760742f,-0.32875844836235046f,-0.31893211603164673f,-2.9557993412017822f,-0.6771930456161499f,-0.8014379739761353f,-0.6284971237182617f,0.332326203584671f,-1.0134690999984741f,0.3772561252117157f,0.20396418869495392f},
+{-0.015470266342163086f,-0.4175601005554199f,0.4652104079723358f,0.344943642616272f,0.1992327719926834f,-0.4663916528224945f,0.05196094512939453f,-0.008358269929885864f,-0.4575410783290863f,-0.5083949565887451f,-0.2538931965827942f,-0.11511552333831787f,0.3527691960334778f,-0.12093909084796906f,0.01653306372463703f,-0.45850178599357605f},
+{0.1863725483417511f,0.08846206963062286f,-0.050088606774806976f,-0.46936851739883423f,0.5272957682609558f,0.07133814692497253f,0.04860696196556091f,0.17769548296928406f,-1.3204635381698608f,0.06790181249380112f,-0.14967891573905945f,0.19592127203941345f,0.4656137526035309f,0.1081087589263916f,-0.06106513738632202f,-0.11734148859977722f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.5733839869499207f,-0.6704624891281128f,-0.035915032029151917f,-0.26347172260284424f,0.4087086021900177f,0.0030125975608825684f,0.05245202034711838f,-0.0588601790368557f,-0.11953806132078171f,0.08675530552864075f,-0.15528400242328644f,0.2920013666152954f,0.373188316822052f,1.212536096572876f,-0.7900809645652771f };
-
-const float b1[16] = { 0.5264097452163696f,1.0703750848770142f,-1.7145336866378784f,0.2382747083902359f,1.0430195331573486f,0.8539859652519226f,-0.058932315558195114f,1.0475828647613525f,0.5750831365585327f,-0.7904888987541199f,0.564017653465271f,0.7548366189002991f,-0.3627738058567047f,-0.8757394552230835f,-1.087764859199524f,1.5956077575683594f };
-
-const float b2[16] = { 0.0007784571498632431f,-0.9460138082504272f,-1.4564176797866821f,-0.5824369788169861f,-0.6939148902893066f,0.038586944341659546f,0.07729385793209076f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.15237417817115784f,0.17741809785366058f,-0.3301374316215515f,2.0171046257019043f,-0.16467103362083435f,0.6815829873085022f };
-
-const float b3[16] = { -1.963319182395935f,-0.5293647646903992f,0.3431461751461029f,-0.23769626021385193f,0.11889180541038513f,0.7799785137176514f,-0.45353031158447266f,-0.8127179145812988f,0.36436596512794495f,0.37977612018585205f,-0.3018096387386322f,-0.10593394935131073f,-0.13431759178638458f,0.4824405014514923f,-1.3276978731155396f,-0.026577739045023918f };
-
-const float bout[1] = { -0.17510902881622314f };
+const float hout[16] = { 0.45773375034332275f,0.3859798014163971f,-0.29981717467308044f,-0.03291182219982147f,-0.8433356881141663f,1.002862572669983f,0.0030125975608825684f,0.15066689252853394f,-2.8478612899780273f,-0.10332534462213516f,1.0703125f,-0.1749168038368225f,-0.3780519664287567f,1.3915053606033325f,0.34188297390937805f,-0.17065440118312836f };
+
+const float b1[16] = { 1.1156562566757202f,1.2580926418304443f,-1.7145336866378784f,0.18262852728366852f,0.7823516130447388f,0.998382568359375f,-0.058932315558195114f,-1.9845973253250122f,0.21749649941921234f,-1.0451427698135376f,0.5739218592643738f,1.1615904569625854f,-0.3700066804885864f,-1.0825129747390747f,-1.087764859199524f,1.4952983856201172f };
+
+const float b2[16] = { -0.3779629170894623f,-1.1113404035568237f,-1.4564176797866821f,-0.6393038630485535f,-0.6939148902893066f,-0.06903098523616791f,0.2865044176578522f,-0.3734967112541199f,-1.20063054561615f,-1.912178635597229f,-0.13764147460460663f,0.5186623334884644f,-0.21744106709957123f,2.212801933288574f,0.06957299262285233f,0.9868263602256775f };
+
+const float b3[16] = { -1.963319182395935f,-0.5935878157615662f,-0.005241615232080221f,-0.24495701491832733f,0.04313206300139427f,0.9367193579673767f,-0.45353031158447266f,-0.6562485098838806f,-0.07319840788841248f,-0.035821571946144104f,-0.0942746177315712f,-0.0137743866071105f,-0.5863775610923767f,0.59046870470047f,-1.1678985357284546f,-0.3959362506866455f };
+
+const float bout[1] = { -0.09139688313007355f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };
@@ -999,8 +999,8 @@
 
 
         //i2c
-        //read_field(i2c_slave_addr1);
-        //if(DIR_VALVE_ENC < 0) value = 1023 - value;
+        read_field(i2c_slave_addr1);
+        if(DIR_VALVE_ENC < 0) value = 1023 - value;
 
         //timer_while ++;
 
@@ -1037,8 +1037,8 @@
             input_NN[ind] = torq.sen / 10000.0f + 0.5f;
             ind = ind + 1;
             for(int i=0; i<numfuture_f; i++) {
-                input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
-//                input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
+//                input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
+                input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
                 ind = ind + 1;
             }
 
@@ -2830,7 +2830,8 @@
 
             if (flag_data_request[3] == HIGH) {
                 //PWM
-                CAN_TX_PWM((int16_t) (V[0]*100.0f)); //1500
+                //CAN_TX_PWM((int16_t) (V[0]*100.0f)); //1500
+                CAN_TX_PWM((int16_t) (torq.ref)); //1500
             }
 
             if (flag_data_request[4] == HIGH) {