Diff: main.cpp

Revision:

132:06e670a4f416

Parent:

131:d08121ac87ba

Child:

133:22ab22818e01

--- a/main.cpp	Sat Sep 26 11:42:48 2020 +0000
+++ b/main.cpp	Sun Sep 27 07:42:10 2020 +0000
@@ -1,4 +1,4 @@
-//200926-2
+//200927-1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -193,77 +193,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = { 
-   {-1.1956169605255127f,1.9541065692901611f,0.12024858593940735f,0.45766109228134155f,-2.46848726272583f,2.3174383640289307f,-0.1628284603357315f,1.7106189727783203f,-0.2671312689781189f,-0.05200039967894554f,-0.19419001042842865f,-2.0949411392211914f,-0.49257272481918335f,-1.4435396194458008f,-0.2396446317434311f,-0.9453407526016235f},
-{-0.9400460720062256f,1.4245012998580933f,-0.36603355407714844f,0.09679121524095535f,-1.8845808506011963f,1.4850690364837646f,-0.3777896761894226f,1.1137275695800781f,-0.07536926865577698f,0.18067102134227753f,-0.22846831381320953f,-1.3824812173843384f,0.05978057160973549f,-1.5047208070755005f,-0.1953967958688736f,-0.818098783493042f},
-{-0.5974735021591187f,0.7207550406455994f,0.33912619948387146f,-0.30167949199676514f,-0.8872138857841492f,0.8307980298995972f,0.2676515281200409f,0.684933066368103f,-0.15134312212467194f,0.18280228972434998f,-0.2973056733608246f,-0.6771632432937622f,-0.07414653152227402f,-0.503684401512146f,0.05209478735923767f,-1.0339781045913696f},
-{-0.09716399759054184f,-0.3238726854324341f,0.3703531324863434f,0.2439771294593811f,0.03079681470990181f,-0.44225749373435974f,-0.10795548558235168f,0.20563587546348572f,0.019950227811932564f,0.3058837950229645f,0.11630532890558243f,0.5606547594070435f,-0.13546738028526306f,0.08037986606359482f,-0.27597576379776f,-0.540359377861023f},
-{0.8463809490203857f,-1.2642353773117065f,-0.004794687032699585f,0.12911343574523926f,1.1585084199905396f,-1.3141409158706665f,0.12058994174003601f,-1.2253652811050415f,0.02594391070306301f,0.1314161866903305f,0.3510971963405609f,1.3880574703216553f,0.04641415551304817f,1.2522947788238525f,-0.36018112301826477f,0.2527952492237091f},
-{1.5909785032272339f,-3.175170660018921f,0.20290347933769226f,0.08839220553636551f,2.6832611560821533f,-2.9426558017730713f,0.15389427542686462f,-2.881338596343994f,0.02902456931769848f,0.1379185914993286f,-0.20390546321868896f,2.871346950531006f,-0.04241325333714485f,2.804138660430908f,-0.38513508439064026f,2.1350905895233154f},
-{-0.12085642665624619f,-0.3199078142642975f,-0.2331579178571701f,-0.48533105850219727f,-0.16761304438114166f,-0.14451755583286285f,0.05604562163352966f,-0.8228414058685303f,0.3384076952934265f,0.08443693816661835f,0.1641031950712204f,0.34797629714012146f,-0.213156059384346f,0.6453942656517029f,-0.14554673433303833f,2.227891683578491f},
-{-0.15758372843265533f,-0.24950604140758514f,-0.24806702136993408f,0.01830308884382248f,-0.181361585855484f,-0.24425840377807617f,-0.16704979538917542f,-0.42299458384513855f,0.024335289373993874f,0.1271706521511078f,0.12164045870304108f,-0.018594985827803612f,0.29838648438453674f,0.1081574410200119f,0.04009982943534851f,0.8046209812164307f},
-{0.13237953186035156f,0.24378275871276855f,0.09550115466117859f,-0.4280838668346405f,0.11724983900785446f,-0.02897932194173336f,-0.06753402948379517f,-0.5428119897842407f,-0.25201329588890076f,0.34253764152526855f,-0.2532883286476135f,0.5114379525184631f,0.16659514605998993f,0.44910377264022827f,-0.2847418785095215f,0.8708233833312988f},
-{0.020640259608626366f,-0.2428482323884964f,0.17205187678337097f,-0.18949557840824127f,0.47359582781791687f,0.1461060345172882f,-0.2786858379840851f,-0.2425689697265625f,-0.0071503291837871075f,-0.4227764308452606f,0.0162271149456501f,-0.21304276585578918f,0.3000964820384979f,0.08429371565580368f,0.3247623145580292f,0.44280844926834106f},
-{0.4047212600708008f,0.28985321521759033f,0.34649983048439026f,0.17841115593910217f,0.16438840329647064f,0.05032389983534813f,-0.1895401030778885f,0.17733506858348846f,-0.3974670171737671f,0.04118736833333969f,0.3485802114009857f,-0.3962743580341339f,-0.1048535481095314f,-0.2142852544784546f,0.24870619177818298f,-0.9647120237350464f},
-{-0.5234584212303162f,0.3257308602333069f,-0.3757385015487671f,-0.06390493363142014f,-0.16097404062747955f,0.23826104402542114f,0.1429324448108673f,1.6107418537139893f,-0.13908539712429047f,0.2028050422668457f,-0.36206790804862976f,-0.5547217726707458f,0.10675008594989777f,-1.219779133796692f,0.09779238700866699f,-3.4316484928131104f},
-{-0.09844901412725449f,0.10108669102191925f,0.18496140837669373f,0.08368060737848282f,0.2171357423067093f,0.15216588973999023f,-0.22405625879764557f,0.44349199533462524f,-0.1580732762813568f,-0.16995948553085327f,-0.07901274412870407f,-0.5572441220283508f,0.017470277845859528f,-0.45106565952301025f,-0.2075144499540329f,-1.6240781545639038f},
-{-0.2828729450702667f,-0.04551524296402931f,0.38466766476631165f,-0.16469638049602509f,-0.2127838283777237f,-0.4080352783203125f,-0.2982172966003418f,-0.05918114632368088f,-0.10835221409797668f,-0.20298826694488525f,-0.15936842560768127f,-0.467716246843338f,-0.31966355443000793f,0.015209190547466278f,0.04470124840736389f,0.08305393904447556f},
-{-0.02526024915277958f,-0.10673379898071289f,0.18900898098945618f,-0.043616883456707f,0.4068395495414734f,-0.4073919355869293f,0.03916636109352112f,0.3982734978199005f,0.3009915351867676f,0.08049013465642929f,-0.2378201186656952f,-0.6291245818138123f,0.1008780375123024f,0.37950804829597473f,0.062258750200271606f,1.1864618062973022f},
-{-0.2719186246395111f,-0.44829559326171875f,-0.37685394287109375f,-0.19920584559440613f,-0.1270388662815094f,-0.2079198956489563f,-0.14507901668548584f,0.25207075476646423f,0.20622950792312622f,-0.005332365166395903f,-0.4191429018974304f,-0.41693365573883057f,-0.23004379868507385f,0.4789843261241913f,-0.07684260606765747f,1.7305576801300049f},
-{-0.34262335300445557f,-0.16922307014465332f,0.15568438172340393f,-0.02917546033859253f,-0.0873088389635086f,-0.18939854204654694f,-0.03859376907348633f,0.36984893679618835f,-0.040452513843774796f,0.07805625349283218f,-0.30713871121406555f,-0.11034384369850159f,0.13076388835906982f,0.5984110236167908f,0.2742314636707306f,1.1023929119110107f},
-{-0.2602444589138031f,-0.15024526417255402f,0.19490453600883484f,-0.2521218955516815f,-0.2991682291030884f,-0.10734956711530685f,-0.336474746465683f,0.1193944662809372f,-0.3611188232898712f,-0.11798740923404694f,-0.13278308510780334f,-0.012485034763813019f,0.2817862927913666f,0.18208034336566925f,-0.2561379373073578f,1.009689211845398f},
-{-0.500319242477417f,0.08048559725284576f,-0.2776013910770416f,0.14631828665733337f,0.28522399067878723f,0.017316730692982674f,0.25546005368232727f,-0.27694079279899597f,-0.35695821046829224f,0.02269558236002922f,-0.3737531900405884f,-0.0666629821062088f,0.09167450666427612f,0.22963275015354156f,-0.30415377020835876f,-0.15303073823451996f},
-{0.20733878016471863f,0.2790791094303131f,0.1420871913433075f,-0.310675710439682f,-0.14844459295272827f,0.17805932462215424f,-0.13263443112373352f,-0.591518223285675f,-0.14417357742786407f,0.039684996008872986f,0.12231305241584778f,0.21133604645729065f,0.22742675244808197f,0.27733302116394043f,0.13351169228553772f,-0.47206178307533264f},
-{-0.3225261867046356f,-0.11768028140068054f,-0.07561364769935608f,0.08295725286006927f,-0.3643610179424286f,0.012951040640473366f,0.14428457617759705f,-0.33390116691589355f,-0.3413614332675934f,-0.2919459939002991f,-0.3611116111278534f,-0.4542746841907501f,-0.1833125650882721f,0.15518221259117126f,0.019461065530776978f,-0.7060840129852295f},
-{-0.37913772463798523f,-0.2526766359806061f,0.2631795108318329f,-0.5752549767494202f,0.11304201930761337f,-0.24160557985305786f,0.27224990725517273f,-0.7662065625190735f,-0.0499146394431591f,0.09269854426383972f,0.05944101884961128f,-0.393501341342926f,0.2358129620552063f,0.23764903843402863f,0.06011766195297241f,-0.06155134737491608f},
+   {-1.4429630041122437f,1.3034216165542603f,0.12903714179992676f,0.28798773884773254f,-1.8387701511383057f,1.5667202472686768f,-0.17472904920578003f,1.4733644723892212f,-2.656264543533325f,-1.4315849542617798f,-0.24013076722621918f,-1.9119035005569458f,-0.26184797286987305f,-1.0023362636566162f,-0.2571594715118408f,-0.6307882070541382f},
+{-1.2392706871032715f,1.1644593477249146f,-0.3927857577800751f,-0.026178255677223206f,-1.4516810178756714f,1.1183052062988281f,-0.4054011106491089f,0.9708414077758789f,-1.4737458229064941f,-0.915573000907898f,-0.27695706486701965f,-1.472585678100586f,0.23791413009166718f,-1.340469479560852f,-0.20967772603034973f,-0.20311704277992249f},
+{-0.9548591375350952f,0.9477953910827637f,0.36391180753707886f,-0.3804604113101959f,-0.6920546889305115f,0.9726953506469727f,0.2872133255004883f,0.7518875598907471f,-0.38709938526153564f,-0.6488274931907654f,-0.35085999965667725f,-1.115939736366272f,-0.00023274087288882583f,-0.6639243364334106f,0.05590221285820007f,-0.2936735153198242f},
+{-0.30345863103866577f,0.23051410913467407f,0.39742106199264526f,0.27933886647224426f,0.06478133052587509f,0.03837540000677109f,-0.11584559082984924f,0.39006689190864563f,0.9784761071205139f,-0.018240071833133698f,0.09294888377189636f,-0.10717561095952988f,-0.16221439838409424f,-0.3247924745082855f,-0.2961459457874298f,0.19031429290771484f},
+{1.2327263355255127f,-0.6889948844909668f,-0.0051451027393341064f,0.23299819231033325f,1.165861964225769f,-0.7453231811523438f,0.1294034719467163f,-1.0415599346160889f,1.7182602882385254f,0.9011121392250061f,0.34490203857421875f,0.5882606506347656f,-0.06566117703914642f,0.8417025804519653f,-0.3865056037902832f,0.060221511870622635f},
+{2.9930601119995117f,-3.0403647422790527f,0.21773302555084229f,0.2697482407093048f,2.8469295501708984f,-2.648817300796509f,0.16514194011688232f,-2.84952712059021f,1.9152671098709106f,2.728834390640259f,-0.25064635276794434f,2.114823818206787f,-0.26216015219688416f,2.6941277980804443f,-0.4132833778858185f,0.2531541585922241f},
+{0.039752885699272156f,0.2025553435087204f,-0.2501986622810364f,-0.5324517488479614f,-0.26539286971092224f,0.5754912495613098f,0.06014183163642883f,-0.9225946664810181f,0.6030853986740112f,-0.14999504387378693f,0.1454356163740158f,0.24259179830551147f,-0.17001862823963165f,0.8775872588157654f,-0.15618428587913513f,-0.07316489517688751f},
+{-0.6914640069007874f,0.5008584260940552f,-0.26619744300842285f,-0.07395351678133011f,-0.8829846978187561f,0.7207549214363098f,-0.17925891280174255f,0.2265157401561737f,0.9791081547737122f,-0.40086835622787476f,0.09995602816343307f,-0.3314880132675171f,0.37505483627319336f,-0.7975394129753113f,0.04303058981895447f,-0.05612891912460327f},
+{-0.1787874698638916f,0.41768041253089905f,0.10248100757598877f,-0.568470299243927f,-0.5134447813034058f,0.6237644553184509f,-0.07246989011764526f,0.03315238654613495f,-0.5502752661705017f,0.5439794063568115f,-0.3025839328765869f,0.32957786321640015f,0.23279200494289398f,-0.03704528138041496f,-0.30555272102355957f,-0.033715374767780304f},
+{0.008862380869686604f,-0.7548620700836182f,0.18462657928466797f,-0.31722939014434814f,0.09545460343360901f,0.2514250576496124f,-0.2990540862083435f,0.07069345563650131f,-1.0933656692504883f,0.32643622159957886f,-0.013515989296138287f,-0.12003724277019501f,0.37595507502555847f,0.205060213804245f,0.3484981060028076f,-0.21964995563030243f},
+{0.47586360573768616f,-0.42950138449668884f,0.37182438373565674f,0.08214466273784637f,-0.08976808190345764f,-0.1275489628314972f,-0.20339298248291016f,0.16672146320343018f,-1.5200116634368896f,0.6389781832695007f,0.34330102801322937f,0.08525244891643524f,-0.0628911480307579f,0.48969560861587524f,0.26688337326049805f,-0.5531854033470154f},
+{-0.30400723218917847f,-0.757106363773346f,-0.40320003032684326f,-0.15707449615001678f,0.06026344746351242f,-0.32150769233703613f,0.1533789038658142f,0.4589489698410034f,-0.7721163034439087f,0.7068045735359192f,-0.4191364347934723f,0.554688036441803f,0.14830636978149414f,0.47497859597206116f,0.10493969917297363f,-0.3271389603614807f},
+{-0.09128857403993607f,-0.3000168800354004f,0.19847965240478516f,0.00816351268440485f,0.17116425931453705f,-0.1838742196559906f,-0.2404318004846573f,0.1338871419429779f,-0.40081244707107544f,0.03618118166923523f,-0.11376945674419403f,0.011287818662822247f,0.09556490927934647f,0.3162931203842163f,-0.22268100082874298f,-0.6471481323242188f},
+{-0.09373930841684341f,-0.21054914593696594f,0.4127817749977112f,-0.2197357416152954f,-0.27146321535110474f,-0.7469317317008972f,-0.32001304626464844f,-0.5695106387138367f,0.060322992503643036f,0.017871329560875893f,-0.19953805208206177f,0.0630439817905426f,-0.30925193428993225f,0.16953758895397186f,0.0479682981967926f,-0.18283478915691376f},
+{0.029273824766278267f,0.11858899146318436f,0.20282304286956787f,-0.06400895863771439f,0.11605191975831985f,-0.510269045829773f,0.04202890396118164f,0.11667562276124954f,0.1705678254365921f,0.0002734139561653137f,-0.2839072048664093f,-0.5098284482955933f,0.10708072781562805f,-0.12249376624822617f,0.0668090283870697f,-0.13312344253063202f},
+{-0.09105877578258514f,-0.2992095947265625f,-0.40439701080322266f,-0.2234037220478058f,-0.302815705537796f,-0.5421211123466492f,-0.15568238496780396f,-0.30297666788101196f,0.1690366268157959f,-0.15367193520069122f,-0.4783811569213867f,-0.24257123470306396f,-0.26754769682884216f,0.05846592038869858f,-0.08245879411697388f,-0.06628959625959396f},
+{-0.01457048300653696f,-0.1908884048461914f,0.16706281900405884f,-0.04915865883231163f,-0.002553750993683934f,-1.0438597202301025f,-0.041414469480514526f,-0.4244418144226074f,0.47170740365982056f,-0.1287192404270172f,-0.3581017255783081f,0.15202079713344574f,0.11572433263063431f,0.6782141327857971f,0.29427415132522583f,-0.17552760243415833f},
 };
 
 const float h2[16][16] = { 
-    {1.118157982826233f,0.026402628049254417f,-0.06966331601142883f,-0.01751459203660488f,-0.21907491981983185f,0.4986690878868103f,-0.028952009975910187f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.4330671429634094f,-0.29910382628440857f,0.019865797832608223f,-0.5019774436950684f,-0.965875506401062f,-0.12867528200149536f},
-{1.8996304273605347f,-1.5267117023468018f,0.057057321071624756f,0.08965644985437393f,-0.35503754019737244f,-1.574440836906433f,-0.566491425037384f,-0.3689810335636139f,-0.33757925033569336f,0.2895788848400116f,-1.861789584159851f,-0.7174742817878723f,0.22530922293663025f,0.9965652227401733f,-0.1983392834663391f,-1.3351067304611206f},
+    {-1.5606181621551514f,2.0206825733184814f,-0.06966331601142883f,0.058612748980522156f,-0.21907491981983185f,1.9708458185195923f,0.1347704827785492f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-1.8721647262573242f,-0.5402894020080566f,0.009749081917107105f,-2.581385612487793f,-0.6977754235267639f,-10.681946754455566f},
+{0.33925768733024597f,-0.2831292450428009f,0.057057321071624756f,-0.12389009445905685f,-0.35503754019737244f,-1.6776597499847412f,-0.4788944721221924f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-3.8065388202667236f,-0.9003934860229492f,0.22992102801799774f,2.0528452396392822f,-0.19584237039089203f,-6.66231632232666f},
 {-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},
-{-0.30105364322662354f,-0.2681814432144165f,-0.2894435524940491f,0.295579731464386f,0.08946844935417175f,0.29065629839897156f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.2228393852710724f,0.3810819983482361f,-0.5158584713935852f,-0.21033982932567596f,0.2123195081949234f,0.16286467015743256f},
-{1.9263973236083984f,-6.4410223960876465f,-0.25313520431518555f,0.12884916365146637f,0.036378175020217896f,1.7120977640151978f,-0.4249382019042969f,-0.13983429968357086f,-0.024399548768997192f,-0.39465832710266113f,0.6666945219039917f,-0.6493611335754395f,-0.011714352294802666f,-1.8275744915008545f,-1.04521644115448f,0.7345888018608093f},
-{3.7787277698516846f,-0.6443707346916199f,-0.3519742488861084f,0.45545488595962524f,-0.3015052080154419f,-3.639652967453003f,-0.6845589876174927f,-0.10691878944635391f,-0.23047015070915222f,0.3579089343547821f,-2.359076976776123f,-0.24991123378276825f,-0.32143542170524597f,2.6964616775512695f,1.2543081045150757f,0.4813939034938812f},
+{0.0045395782217383385f,-0.29159554839134216f,-0.2894435524940491f,0.3086508810520172f,0.08946844935417175f,0.30691441893577576f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.1474088579416275f,0.2792828381061554f,-0.5154134631156921f,-0.23461827635765076f,0.21998439729213715f,0.13836133480072021f},
+{-2.5360679626464844f,3.073317766189575f,-0.25313520431518555f,0.26806437969207764f,0.036378175020217896f,1.2692676782608032f,-0.5359461903572083f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-6.085422039031982f,-1.1896787881851196f,-0.016837138682603836f,-1.73238205909729f,-0.6428089141845703f,-6.5621442794799805f},
+{2.7155723571777344f,-0.030397476628422737f,-0.3519742488861084f,0.2640625536441803f,-0.3015052080154419f,-0.9674866199493408f,-0.6676644086837769f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.4337482452392578f,-0.38917678594589233f,-0.3205645680427551f,-0.3579385578632355f,0.06793723255395889f,-9.487342834472656f},
 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
-{-2.880831718444824f,-2.5246427059173584f,0.33083590865135193f,-0.24984709918498993f,-0.14358049631118774f,-0.13872985541820526f,-0.2296978086233139f,-0.36773961782455444f,0.2600560486316681f,-0.37898191809654236f,0.51035475730896f,-0.40991485118865967f,-0.31673234701156616f,1.4167289733886719f,-0.03128518536686897f,-1.6549022197723389f},
-{-0.2084311544895172f,0.32353609800338745f,-0.11379697918891907f,0.10241877287626266f,0.041274964809417725f,-0.3846627175807953f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.03845156729221344f,-0.3197441101074219f,-0.37024784088134766f,-0.27218618988990784f,-0.37640514969825745f,-0.23703627288341522f},
-{-0.1247129961848259f,0.19229479134082794f,-0.13502129912376404f,0.09134597331285477f,0.12987366318702698f,0.08067499846220016f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.2095015048980713f,0.3686753809452057f,0.3811538517475128f,-0.2097279578447342f,0.04410898685455322f,-0.26628780364990234f},
-{-0.25566571950912476f,-0.03334655612707138f,0.0457797646522522f,-0.3833528161048889f,-0.03321319818496704f,-0.43721693754196167f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.23595042526721954f,0.3545852601528168f,-0.3647043704986572f,0.44764262437820435f,-0.3679425120353699f,-0.31210198998451233f},
-{3.029474973678589f,1.5539413690567017f,0.3954955041408539f,0.19658516347408295f,0.0033026933670043945f,1.0192269086837769f,-0.40522921085357666f,-0.22022095322608948f,0.3487861454486847f,-0.32520344853401184f,-0.6443755626678467f,-0.5238021016120911f,-0.030794570222496986f,-1.304523229598999f,-0.187196746468544f,-0.7065238952636719f},
-{-0.17512467503547668f,-0.17936718463897705f,-0.15798500180244446f,0.22627809643745422f,-0.37393757700920105f,0.36229458451271057f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.08606293797492981f,-0.31362128257751465f,0.30660009384155273f,-0.10633572190999985f,-0.18593157827854156f,0.11668103188276291f},
-{-0.7335237860679626f,1.0983631610870361f,-0.2018718123435974f,-0.09944558888673782f,0.07545611262321472f,-0.0704403966665268f,-0.3188112676143646f,-0.34943315386772156f,-0.24509364366531372f,0.19522181153297424f,1.3507957458496094f,-0.6690428256988525f,-0.27907073497772217f,-0.51666659116745f,-0.5962638258934021f,0.3479926884174347f},
+{1.0086963176727295f,-0.4673076570034027f,0.33083590865135193f,-0.2271568477153778f,-0.14358049631118774f,-1.266616940498352f,-0.2336554229259491f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,2.959778070449829f,-0.4257872998714447f,-0.44864556193351746f,0.483595609664917f,-0.03410644084215164f,-0.5517474412918091f},
+{-1.7406342029571533f,0.5150182247161865f,-0.11379697918891907f,-0.005009772721678019f,0.041274964809417725f,0.018047111108899117f,-0.1121363565325737f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-5.289576530456543f,-0.7816638350486755f,-0.4869474470615387f,0.3638456463813782f,-0.5299866795539856f,1.5895273685455322f},
+{0.557269811630249f,0.13699454069137573f,-0.13502129912376404f,-0.5347733497619629f,0.12987366318702698f,-0.009665212593972683f,-0.13866545259952545f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,1.3226096630096436f,-0.05109235644340515f,0.2679780125617981f,-0.6435878276824951f,-0.2521476447582245f,2.061748504638672f},
+{-0.28484171628952026f,0.011191816069185734f,0.0457797646522522f,-0.3522537052631378f,-0.03321319818496704f,-0.41051045060157776f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.19660501182079315f,0.3545852601528168f,-0.3647043704986572f,0.40139737725257874f,-0.41343173384666443f,-0.26665782928466797f},
+{-0.4220695495605469f,0.6355003118515015f,0.3954955041408539f,0.22366313636302948f,0.0033026933670043945f,0.5492510795593262f,-0.3526473045349121f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-0.42096808552742004f,-1.0570847988128662f,-0.030798403546214104f,-0.8309122323989868f,-0.02978677675127983f,-2.125837564468384f},
+{-0.26131558418273926f,-0.21128816902637482f,-0.15798500180244446f,0.393930047750473f,-0.37393757700920105f,0.35845980048179626f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.11023599654436111f,-0.2837170362472534f,0.41839322447776794f,-0.019079415127635002f,-0.12873566150665283f,0.1117788702249527f},
+{-1.920461654663086f,0.0413205511868f,-0.2018718123435974f,-0.3468192219734192f,0.07545611262321472f,0.6092995405197144f,-0.49067139625549316f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,1.5469683408737183f,-0.7738609313964844f,-0.2806382179260254f,0.19333934783935547f,-0.4202534854412079f,1.8381965160369873f},
 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
-{-1.6585843563079834f,-2.8949406147003174f,0.12081471085548401f,-0.20656532049179077f,0.29976895451545715f,-0.4545046389102936f,-0.3059020936489105f,0.2837134599685669f,-0.3893685042858124f,-0.02222958207130432f,0.7774568200111389f,-0.34831833839416504f,-0.31249529123306274f,-0.37280145287513733f,-1.0618226528167725f,0.19856099784374237f},
+{-0.21392621099948883f,0.004768312443047762f,0.12081471085548401f,-0.18312887847423553f,0.29976895451545715f,-0.2646619975566864f,-0.112851083278656f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-0.1520708203315735f,-0.2533053457736969f,-0.3186803460121155f,0.20880915224552155f,0.24160519242286682f,-0.24266235530376434f},
 };
 
 const float h3[16][16] = { 
-    {-0.36079341173171997f,-6.634408473968506f,0.2660183310508728f,0.3780023157596588f,-1.052498459815979f,0.00011058850213885307f,0.2158546894788742f,0.15318068861961365f,-0.4799728989601135f,-0.19770589470863342f,-0.11870327591896057f,0.08692313730716705f,-1.5373475551605225f,1.4960458278656006f,1.1136343479156494f,0.33341190218925476f},
-{0.047732532024383545f,-0.0008532904321327806f,0.1749679297208786f,0.15211161971092224f,-0.18240192532539368f,2.944945812225342f,-0.3198729455471039f,0.06247803568840027f,0.03570694103837013f,-0.5405685901641846f,0.4144817292690277f,-0.4696841835975647f,0.4540969431400299f,-0.608070433139801f,1.9369739294052124f,-0.41805732250213623f},
+    {-0.36079341173171997f,-1.0313812494277954f,0.20955149829387665f,-0.4161129891872406f,0.4362175166606903f,-0.643340528011322f,0.3332441747188568f,0.3036012351512909f,-4.257448196411133f,-0.0924486294388771f,-0.11870327591896057f,0.4001283347606659f,0.6917147636413574f,0.17240026593208313f,-1.4586395025253296f,-1.2680331468582153f},
+{0.047732532024383545f,0.19960306584835052f,-0.18191421031951904f,-0.34144383668899536f,-2.6512136459350586f,-1.0648829936981201f,-0.3198729455471039f,0.06247803568840027f,3.183682918548584f,-0.4094620645046234f,0.26499590277671814f,-1.0764307975769043f,-0.08882865309715271f,0.9791208505630493f,2.870696544647217f,3.561124086380005f},
 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
-{-0.30922991037368774f,-0.16988709568977356f,0.30958712100982666f,-0.37309399247169495f,-0.2169945240020752f,0.10060708969831467f,0.20021501183509827f,0.07002416253089905f,-0.21373674273490906f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.04561224579811096f,0.07542174309492111f,0.13873246312141418f,-0.03370444104075432f},
+{-0.30922991037368774f,-0.1570989489555359f,0.2969348728656769f,-0.3716883063316345f,-0.22935159504413605f,0.11628328263759613f,0.20021501183509827f,0.07002416253089905f,-0.24917908012866974f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.058745983988046646f,0.09162923693656921f,0.15479059517383575f,-0.016502488404512405f},
 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
-{-0.37449589371681213f,-3.4455225467681885f,-1.4439983367919922f,-0.22731581330299377f,-3.1937830448150635f,0.18943846225738525f,-0.31342682242393494f,0.07509345561265945f,-0.7288225293159485f,-0.4627543091773987f,-0.08919548988342285f,-0.12296706438064575f,4.677646636962891f,-4.959240436553955f,3.2397050857543945f,0.6110252737998962f},
-{0.4110594093799591f,0.21796488761901855f,-0.28898707032203674f,0.25129392743110657f,0.15261942148208618f,-0.08698523789644241f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.35564061999320984f,0.0884476900100708f,0.16810166835784912f,-0.3391006588935852f},
-{-0.40892091393470764f,0.03546829894185066f,-0.4707719385623932f,0.1387016326189041f,0.22356410324573517f,0.07907699793577194f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.48474669456481934f,0.07994696497917175f,0.005298197269439697f},
+{-0.37449589371681213f,-0.11203884333372116f,-0.7883889079093933f,0.06450603157281876f,-0.48566579818725586f,0.4531732201576233f,-0.18732719123363495f,0.22384825348854065f,-3.830247402191162f,-0.4104718863964081f,-0.2318742722272873f,-0.39825406670570374f,-0.8247615098953247f,0.7528648376464844f,-0.4286518692970276f,0.17024847865104675f},
+{0.4110594093799591f,0.2655036747455597f,-0.28617212176322937f,0.37246426939964294f,0.14704963564872742f,-0.09126336872577667f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.21155259013175964f,0.08926000446081161f,0.3126353323459625f,-0.3391006588935852f},
+{-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
 {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
-{0.15459725260734558f,1.5904432535171509f,-0.1097959503531456f,-0.9696974158287048f,0.1818193793296814f,0.340238094329834f,-0.08742031455039978f,-0.04813981428742409f,-0.2547273635864258f,-0.573274552822113f,0.1268840730190277f,-0.6060346961021423f,0.24557127058506012f,-3.25490403175354f,1.3931238651275635f,-0.10349390655755997f},
-{-0.408692330121994f,-0.051464516669511795f,-0.005845870357006788f,0.022719833999872208f,-0.08350561559200287f,-0.11579781025648117f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.5204461812973022f,-0.26505690813064575f,-0.23564808070659637f,0.31690117716789246f},
-{-0.2991822361946106f,0.3198093771934509f,-0.03278012573719025f,-0.05932474136352539f,0.12838001549243927f,0.18775075674057007f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.05636082589626312f,-0.17220379412174225f,0.3176133632659912f,-0.16869547963142395f},
-{-0.2675279378890991f,1.8016947507858276f,0.606451690196991f,0.8853660225868225f,0.16671153903007507f,-0.6507490277290344f,-0.4582195281982422f,-0.4366315007209778f,-0.8873895406723022f,-0.739578366279602f,-0.3685331642627716f,-0.7161888480186462f,-2.9520368576049805f,-1.2378021478652954f,-1.1619811058044434f,-0.7018218636512756f},
-{-0.015470266342163086f,-1.1638100147247314f,0.5526279211044312f,-0.46289893984794617f,0.1222415640950203f,-0.12419240921735764f,0.05196094512939453f,-0.008358269929885864f,-0.5885560512542725f,-0.5304774641990662f,0.13179203867912292f,-0.11511552333831787f,0.9951580166816711f,0.09855327755212784f,-0.3216860592365265f,-0.45090147852897644f},
-{0.1863725483417511f,1.511878490447998f,-0.37864598631858826f,-0.37369877099990845f,0.3111405074596405f,0.5492295622825623f,0.07846614718437195f,0.02850668504834175f,-0.294668972492218f,-0.06887666881084442f,-0.3929237127304077f,-0.11778708547353745f,-1.0746829509735107f,2.953195571899414f,-4.6077470779418945f,-0.059049513190984726f},
+{0.15459725260734558f,0.2693333625793457f,-0.8550384044647217f,-0.15938661992549896f,-0.13434191048145294f,0.692764937877655f,-0.08742031455039978f,0.05785742402076721f,-3.8706929683685303f,-0.6950677037239075f,0.1268840730190277f,-0.13950097560882568f,-0.07396436482667923f,-0.14734496176242828f,2.6098744869232178f,-8.016020774841309f},
+{-0.408692330121994f,0.010131987743079662f,-0.30817681550979614f,0.0922636091709137f,-0.3567854166030884f,0.3175760507583618f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.5534982681274414f,-0.2532133460044861f,-0.34717613458633423f,0.024447867646813393f},
+{-0.2991822361946106f,0.23328058421611786f,0.0505894236266613f,-0.05932474136352539f,0.21531148254871368f,0.11274899542331696f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.13514076173305511f,-0.26424771547317505f,0.36124154925346375f,-0.03929755091667175f},
+{-0.2675279378890991f,-0.39735591411590576f,0.8731051087379456f,-0.04545804113149643f,0.5777480006217957f,0.43351325392723083f,-0.32875844836235046f,-0.31893211603164673f,-2.863476276397705f,-0.7445234656333923f,-0.5083037614822388f,-0.9965668320655823f,-0.24764390289783478f,-0.9042758345603943f,-0.6130790114402771f,2.0715322494506836f},
+{-0.015470266342163086f,-0.7191545963287354f,0.6353367567062378f,0.3513936996459961f,0.3322150409221649f,-0.6503303647041321f,0.05196094512939453f,-0.008358269929885864f,-0.4187942147254944f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,0.5954373478889465f,-0.3741728961467743f,0.11708094924688339f,0.03591549023985863f},
+{0.1863725483417511f,0.11712347716093063f,-2.9256980419158936f,-0.4779709577560425f,-3.502915382385254f,1.519821286201477f,0.04860696196556091f,0.17769548296928406f,-0.026472734287381172f,0.10345425456762314f,-0.3929237127304077f,0.6862512826919556f,0.6256688237190247f,0.7444633841514587f,-0.6542094945907593f,-2.53106689453125f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.31196489930152893f,-0.13185198605060577f,-0.16391754150390625f,-0.19424588978290558f,0.359182208776474f,-0.03189801052212715f,0.03921443596482277f,-0.1738540083169937f,0.08527485281229019f,0.24303162097930908f,-0.023280441761016846f,-0.739281177520752f,-0.4194124639034271f,-0.3134619891643524f,-0.01592673920094967f };
+const float hout[16] = { 0.45773375034332275f,0.43237993121147156f,-0.2360328733921051f,-0.14975948631763458f,-0.27932503819465637f,0.13622738420963287f,0.0030125975608825684f,0.15066689252853394f,-0.4520528018474579f,-0.055413588881492615f,0.20479823648929596f,-0.114473357796669f,-0.07025996595621109f,0.2664765417575836f,0.21039363741874695f,-0.28571611642837524f };
 
-const float b1[16] = { 0.8415809273719788f,1.0703039169311523f,-1.7145336866378784f,0.3049679398536682f,1.2612354755401611f,0.7037971019744873f,-0.058932315558195114f,0.8694376349449158f,0.5314441323280334f,-0.8952388167381287f,0.5985291600227356f,1.553392767906189f,-0.4700530469417572f,-1.0793685913085938f,-1.087764859199524f,0.22083836793899536f };
+const float b1[16] = { 0.5210217833518982f,1.0273849964141846f,-1.7145336866378784f,0.2351079285144806f,0.986548125743866f,0.7703483700752258f,-0.058932315558195114f,0.8596047759056091f,1.126753330230713f,-0.8542031049728394f,0.5668391585350037f,1.619093656539917f,-0.3679374158382416f,-1.1048500537872314f,-1.087764859199524f,1.0057594776153564f };
 
-const float b2[16] = { -0.8204003572463989f,-1.251840591430664f,-1.4564176797866821f,-0.5728105306625366f,-0.6939148902893066f,0.08014484494924545f,0.23218181729316711f,-0.356546014547348f,-1.20063054561615f,-1.912178635597229f,-0.3182550072669983f,0.3313150703907013f,-0.19166316092014313f,1.605037808418274f,-0.18490852415561676f,1.2165850400924683f };
+const float b2[16] = { -0.1832910180091858f,-1.0792909860610962f,-1.4564176797866821f,-0.5707628130912781f,-0.6939148902893066f,0.11580994725227356f,0.04361875727772713f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.9897506833076477f,0.3142850697040558f,-0.192947119474411f,1.8038045167922974f,-0.12125768512487411f,1.7012529373168945f };
 
-const float b3[16] = { -1.963319182395935f,-3.8163950443267822f,0.02664731629192829f,-0.1306416541337967f,0.26941177248954773f,1.0376825332641602f,-0.5807558298110962f,-0.80561363697052f,0.1578773856163025f,0.12574471533298492f,-0.14371006190776825f,-0.2634562849998474f,-3.3797802925109863f,-1.3627538681030273f,0.32906922698020935f,-1.0846413373947144f };
+const float b3[16] = { -1.963319182395935f,-0.740074634552002f,-0.2503773272037506f,-0.18092459440231323f,0.362236350774765f,0.05776499956846237f,-0.45353031158447266f,-0.6562485098838806f,1.2567371129989624f,0.17614425718784332f,-0.29542267322540283f,-0.5567859411239624f,-1.289778232574463f,0.4776657223701477f,-3.2735109329223633f,-2.6712799072265625f };
 
-const float bout[1] = { -0.2638187110424042f };
+const float bout[1] = { -0.0330546572804451f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;