Diff: main.cpp

Revision:

219:3cb6bd063f56

Parent:

218:066030f7951f

Child:

220:153c6f5e1c44

--- a/main.cpp	Sun Dec 27 12:37:18 2020 +0000
+++ b/main.cpp	Mon Dec 28 01:32:33 2020 +0000
@@ -1,4 +1,4 @@
-//201226_1
+//201228_1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -199,71 +199,71 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = {
-    {-1.3188419342041016f,1.1015946865081787f,0.1310378611087799f,0.425862580537796f,-1.3821747303009033f,1.1033618450164795f,-0.17743819952011108f,0.8947198987007141f,-0.8323164582252502f,-0.04114618897438049f,-0.003459111088886857f,-1.0934569835662842f,-0.2590428590774536f,-0.5558655261993408f,-0.2611466646194458f,0.024373603984713554f},
-    {-1.044303297996521f,0.7612116932868958f,-0.3988758325576782f,0.1073291152715683f,-1.0053714513778687f,0.5248311758041382f,-0.4116867780685425f,0.35538050532341003f,-0.3489154279232025f,0.21759790182113647f,-0.11023671925067902f,-0.5993606448173523f,0.24837161600589752f,-0.7363064885139465f,-0.21292872726917267f,0.18341368436813354f},
-    {-0.8023618459701538f,0.4315384030342102f,0.36955419182777405f,-0.2512732148170471f,-0.38124769926071167f,0.3337925374507904f,0.2916664779186249f,0.20207014679908752f,-0.26900148391723633f,0.22544367611408234f,-0.25711753964424133f,-0.31503909826278687f,0.0064854794181883335f,0.035251207649707794f,0.056768983602523804f,-0.18308201432228088f},
-    {-0.394621878862381f,-0.1719120293855667f,0.40358296036720276f,0.42023688554763794f,0.06037278473377228f,-0.44249752163887024f,-0.11764177680015564f,0.10723409801721573f,0.0934249609708786f,0.3654900789260864f,0.11849074065685272f,0.4522974491119385f,-0.15813837945461273f,0.24657508730888367f,-0.3007376194000244f,0.027820143848657608f},
-    {0.5724979639053345f,-0.48123183846473694f,-0.005224883556365967f,0.37380412220954895f,0.6026304364204407f,-0.6522341966629028f,0.13140985369682312f,-0.7390255928039551f,0.4500592052936554f,0.18186268210411072f,0.2947525978088379f,0.6649997234344482f,-0.0602697990834713f,0.8220046162605286f,-0.39249828457832336f,-0.4024631679058075f},
-    {1.4929051399230957f,-1.7723467350006104f,0.22110894322395325f,0.41007909178733826f,1.5461177825927734f,-1.6431761980056763f,0.16770240664482117f,-1.7085875272750854f,1.1471062898635864f,0.1962171047925949f,-0.3956814706325531f,1.565327763557434f,-0.2601589560508728f,1.6338653564453125f,-0.4196912348270416f,-0.5275029540061951f},
-    {0.16622689366340637f,0.094024159014225f,-0.2540779709815979f,-0.7612617015838623f,-0.49709346890449524f,0.39399170875549316f,0.06107431650161743f,-0.15140821039676666f,-0.42806950211524963f,-0.017373915761709213f,0.223312646150589f,-0.09082504361867905f,-0.1699696183204651f,0.21603620052337646f,-0.15860587358474731f,-0.30729222297668457f},
-    {0.3740707039833069f,-0.5162192583084106f,-0.2703247666358948f,-0.21249370276927948f,-0.22460711002349854f,-0.2896941006183624f,-0.18203827738761902f,-0.4928327798843384f,0.1716698259115219f,0.05402236431837082f,0.04233044758439064f,-0.18938399851322174f,0.38246333599090576f,0.36619728803634644f,0.0436977744102478f,-0.11313924938440323f},
-    {0.44147852063179016f,0.08511102199554443f,0.10406997799873352f,-0.6988250017166138f,-0.12479954212903976f,-0.014051994308829308f,-0.07359349727630615f,-0.5255224704742432f,0.26467326283454895f,0.30673301219940186f,-0.44213414192199707f,0.2275058627128601f,0.23771138489246368f,0.4562159776687622f,-0.31029027700424194f,-0.05488807335495949f},
-    {0.06252124905586243f,-0.37980619072914124f,0.18748918175697327f,-0.43770161271095276f,0.0818045362830162f,0.20953527092933655f,-0.3036908507347107f,-0.10104111582040787f,0.7176201343536377f,-0.5149088501930237f,-0.18206652998924255f,-0.6509184241294861f,0.38291072845458984f,-0.058381062000989914f,0.35390153527259827f,-0.22490857541561127f},
-    {0.44843414425849915f,0.07815257459878922f,0.3775894343852997f,-0.030792826786637306f,-0.1508180946111679f,0.06181186065077782f,-0.20654654502868652f,0.11699937283992767f,0.24502204358577728f,-0.0012500198790803552f,0.17670658230781555f,-0.5153126120567322f,-0.06283143907785416f,0.06424001604318619f,0.2710213363170624f,-0.5186665654182434f},
-    {-0.32994866371154785f,-0.42429524660110474f,-0.40945154428482056f,-0.2757742404937744f,-0.014833655208349228f,-0.05719117075204849f,0.15575703978538513f,0.4994480609893799f,0.4656277000904083f,0.18031072616577148f,-0.5855719447135925f,-0.013890904374420643f,0.15162703394889832f,0.07344543188810349f,0.10656675696372986f,-0.24474458396434784f},
-    {-0.024391446262598038f,-0.21064427495002747f,0.2015570104122162f,-0.10794585943222046f,0.19281460344791412f,0.11780568212270737f,-0.24415965378284454f,0.25574594736099243f,0.32768353819847107f,-0.22811290621757507f,-0.26534199714660645f,-0.3911608159542084f,0.0980864018201828f,0.11463749408721924f,-0.22613362967967987f,-0.5228750705718994f},
-    {-0.17537148296833038f,-0.0768209844827652f,0.41918185353279114f,-0.33424243330955505f,-0.40935051441192627f,-0.2844356596469879f,-0.32497477531433105f,-0.1858813613653183f,0.2077520787715912f,-0.2599889934062958f,-0.3490596115589142f,-0.36629024147987366f,-0.3129832148551941f,0.010562135837972164f,0.04871204495429993f,-0.00758293317630887f},
-    {0.10920947790145874f,0.02847476489841938f,0.20596781373023987f,-0.16273868083953857f,0.17861789464950562f,-0.1890067607164383f,0.042680561542510986f,0.39797306060791016f,0.4726075828075409f,0.05316445603966713f,-0.44276881217956543f,-0.6162247657775879f,0.10978464782238007f,-0.005044030491262674f,0.06784489750862122f,0.07384920120239258f},
-    {-0.027906058356165886f,-0.4482294023036957f,-0.4106670916080475f,-0.3072645962238312f,-0.24792344868183136f,-0.1550082266330719f,-0.15809619426727295f,-0.023345662280917168f,0.36193379759788513f,-0.03558121994137764f,-0.6655545234680176f,-0.13668949902057648f,-0.27069708704948425f,0.16696994006633759f,-0.08373728394508362f,0.10844256728887558f},
+    {-1.6017948389053345f,1.2721383571624756f,0.1310378611087799f,-0.9444252848625183f,-1.9589552879333496f,1.1329879760742188f,-0.17743819952011108f,-0.19157131016254425f,-0.39761483669281006f,0.02001183293759823f,0.5025057196617126f,-2.509382724761963f,-0.2675858736038208f,0.27560269832611084f,-0.2611466646194458f,-0.9627107977867126f},
+{-1.2710213661193848f,0.9135757684707642f,-0.3988758325576782f,-0.7979171872138977f,-1.4895585775375366f,0.5568610429763794f,-0.4116867780685425f,-0.261433482170105f,-0.22742684185504913f,0.2772603929042816f,0.118864506483078f,-1.5505203008651733f,0.23985113203525543f,-0.2809593081474304f,-0.21292872726917267f,-0.6193060874938965f},
+{-1.1586071252822876f,0.7516070604324341f,0.36955419182777405f,-0.9032031297683716f,-0.9722328782081604f,0.5363096594810486f,0.2916664779186249f,-0.016872992739081383f,-0.34971633553504944f,0.2836141288280487f,-0.054457396268844604f,-0.9038598537445068f,-0.0020234500989317894f,0.19621078670024872f,0.056768983602523804f,-1.1061573028564453f},
+{-0.7506084442138672f,0.1879994422197342f,0.40358296036720276f,0.12524257600307465f,-0.5177642107009888f,-0.18764258921146393f,-0.11764177680015564f,0.31180232763290405f,-0.20574431121349335f,0.42218565940856934f,0.16467393934726715f,0.3004089593887329f,-0.1665881872177124f,0.09486014395952225f,-0.3007376194000244f,-0.8816207051277161f},
+{0.7436127662658691f,-0.604726254940033f,-0.005224883556365967f,0.9320474863052368f,0.5615028142929077f,-0.8275365829467773f,0.13140985369682312f,0.018719080835580826f,-0.24859893321990967f,0.23700864613056183f,-0.41653650999069214f,1.252004861831665f,-0.0686110407114029f,0.23053120076656342f,-0.39249828457832336f,-0.6377205848693848f},
+{3.0718040466308594f,-3.262662887573242f,0.22110894322395325f,2.670456647872925f,2.9312491416931152f,-3.062858819961548f,0.16770240664482117f,-0.1752457618713379f,-0.304975301027298f,0.24974356591701508f,-2.912475347518921f,3.297006845474243f,-0.2682695984840393f,0.3757273256778717f,-0.4196912348270416f,1.0734145641326904f},
+{-1.2198433876037598f,1.5182578563690186f,-0.2540779709815979f,-1.8283756971359253f,-1.570626139640808f,1.7989088296890259f,0.06107431650161743f,-0.7636352777481079f,0.3089294731616974f,-0.09506343305110931f,2.775860548019409f,0.7932590246200562f,-0.17504744231700897f,0.2239564061164856f,-0.15860587358474731f,-0.7237789630889893f},
+{0.7539365291595459f,-0.9152541160583496f,-0.2703247666358948f,0.3871593773365021f,0.3573713004589081f,-0.712091326713562f,-0.18203827738761902f,-0.5724472999572754f,-0.17589353024959564f,-0.025821663439273834f,0.3012785017490387f,0.5540553331375122f,0.3776646554470062f,0.029355080798268318f,0.0436977744102478f,1.1350784301757812f},
+{0.6773941516876221f,-0.1407381296157837f,0.10406997799873352f,-0.31886449456214905f,0.2701631486415863f,-0.2895267903804779f,-0.07359349727630615f,-0.522844135761261f,-0.4761183261871338f,0.22720466554164886f,-0.11068277060985565f,0.17022143304347992f,0.23315370082855225f,0.15179778635501862f,-0.31029027700424194f,0.851940393447876f},
+{0.11661386489868164f,-0.3948979079723358f,0.18748918175697327f,-0.2878238558769226f,0.28554558753967285f,0.11674453318119049f,-0.3036908507347107f,-0.1508290320634842f,-0.14107836782932281f,-0.5925581455230713f,0.2786004841327667f,-1.0318316221237183f,0.37844526767730713f,-0.270053893327713f,0.35390153527259827f,0.38183316588401794f},
+{0.4711846709251404f,0.11557799577713013f,0.3775894343852997f,0.0314268134534359f,0.03386480361223221f,0.016547810286283493f,-0.20654654502868652f,-0.06258935481309891f,-0.4769713580608368f,-0.07612045109272003f,0.6390635967254639f,-0.8360038995742798f,-0.06711658090353012f,-0.030321964994072914f,0.2710213363170624f,-0.054686423391103745f},
+{-0.37094420194625854f,-0.2944038212299347f,-0.40945154428482056f,-0.18097494542598724f,0.14135384559631348f,0.021318335086107254f,0.15575703978538513f,0.29287639260292053f,-0.12214788794517517f,0.1086469367146492f,-0.14901117980480194f,-0.15198558568954468f,0.1470927745103836f,-0.03396562486886978f,0.10656675696372986f,0.06443876773118973f},
+{0.025174643844366074f,-0.12816596031188965f,0.2015570104122162f,0.1076304167509079f,0.45414742827415466f,0.19509439170360565f,-0.24415965378284454f,0.013022400438785553f,-0.10836649686098099f,-0.29661229252815247f,0.09127697348594666f,-0.21214918792247772f,0.09341105818748474f,0.01174785103648901f,-0.22613362967967987f,-0.3625008761882782f},
+{-0.04146391525864601f,-0.02673570066690445f,0.41918185353279114f,-0.1233106479048729f,-0.07927072793245316f,-0.1876136064529419f,-0.32497477531433105f,-0.4840133786201477f,-0.044291287660598755f,-0.3259299099445343f,0.04178468510508537f,-0.0003480979357846081f,-0.31783685088157654f,-0.05072624981403351f,0.04871204495429993f,-0.08137178421020508f},
+{0.1422140747308731f,0.18844546377658844f,0.20596781373023987f,-0.2328251153230667f,0.34344229102134705f,0.06260570883750916f,0.042680561542510986f,0.07508613914251328f,0.4000869691371918f,-0.010638000443577766f,0.13212932646274567f,-0.657844066619873f,0.10472581535577774f,-0.038563571870326996f,0.06784489750862122f,-0.2556094229221344f},
+{0.15386898815631866f,-0.49337783455848694f,-0.4106670916080475f,-0.4150790572166443f,-0.05264211446046829f,-0.05708514153957367f,-0.15809619426727295f,-0.20627009868621826f,0.27094385027885437f,-0.09812130033969879f,-0.3514001667499542f,-0.9586353898048401f,-0.275861918926239f,0.02052518166601658f,-0.08373728394508362f,-0.0018482634332031012f},
 };
 
 const float h2[16][16] = {
-    {-0.6137141585350037f,1.4743585586547852f,-0.06966331601142883f,0.44523122906684875f,-0.21907491981983185f,1.177562952041626f,0.17531350255012512f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.07571391761302948f,-0.2901824414730072f,0.12968102097511292f,-1.8563700914382935f,-0.35320353507995605f,2.347154378890991f},
-    {0.11523692309856415f,-0.9528547525405884f,0.057057321071624756f,-0.5944203734397888f,-0.35503754019737244f,-1.0155067443847656f,-0.3579281270503998f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.5133021473884583f,-0.5619229078292847f,0.19565780460834503f,1.373045563697815f,-0.07346101105213165f,-0.2817831039428711f},
-    {-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},
-    {0.2854876220226288f,-0.2779490351676941f,-0.2894435524940491f,0.473821759223938f,0.08946844935417175f,0.3670594394207001f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.24802200496196747f,0.3810727596282959f,-0.404754102230072f,-0.24357056617736816f,0.18828310072422028f,0.10349465161561966f},
-    {-0.6117962598800659f,-1.10486900806427f,-0.25313520431518555f,0.1484975814819336f,0.036378175020217896f,0.3806813657283783f,-0.29555338621139526f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.740439236164093f,-0.6068781018257141f,-0.04600336775183678f,-1.4622244834899902f,-0.44563576579093933f,2.0960819721221924f},
-    {0.20252275466918945f,2.0455241203308105f,-0.3519742488861084f,-0.13307900726795197f,-0.3015052080154419f,-1.0664831399917603f,-0.45894497632980347f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.4327160120010376f,-0.17152506113052368f,-0.32991352677345276f,1.1493836641311646f,0.1872640699148178f,-0.09607189148664474f},
-    {-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},
-    {-0.3769959509372711f,0.7894091010093689f,0.33083590865135193f,-1.434015154838562f,-0.14358049631118774f,-1.39875066280365f,-0.12520501017570496f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,-0.42964687943458557f,-0.4603452980518341f,-0.3540525734424591f,1.1433944702148438f,0.5242350101470947f,0.2081318348646164f},
-    {-0.6740375757217407f,0.947818398475647f,-0.11379697918891907f,-0.06858066469430923f,0.041274964809417725f,-0.545332133769989f,-0.1525300294160843f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-0.4976799190044403f,-0.5077089667320251f,-0.5060222148895264f,-0.5033490657806396f,-0.5192798376083374f,-0.37890273332595825f},
-    {-0.17178326845169067f,0.5441228747367859f,-0.13502129912376404f,0.7287293076515198f,0.12987366318702698f,0.6195155382156372f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.4668400287628174f,0.3686023950576782f,0.3811538517475128f,-0.6144871711730957f,-0.21053126454353333f,0.05651098117232323f},
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 };
 
 const float h3[16][16] = {
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+{-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,-0.02029903419315815f,-2.5072414875030518f,-12.973404884338379f,0.2337467223405838f,1.0865919589996338f,-0.18732719123363495f,0.22384825348854065f,-0.850281298160553f,-0.4489060342311859f,-0.23735009133815765f,0.05998014658689499f,0.23774290084838867f,0.08863037824630737f,0.5211813449859619f,-1.1956897974014282f},
+{0.4110594093799591f,0.2715781033039093f,-0.12724249064922333f,0.37246426939964294f,-0.06906148046255112f,-0.05251416191458702f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.13369451463222504f,0.2011522799730301f,0.3126353323459625f,-0.3391006588935852f},
+{-0.40892091393470764f,0.04420051723718643f,-0.26215535402297974f,0.25968697667121887f,0.4493691027164459f,-0.16038022935390472f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.17052586376667023f,-0.4737553000450134f,0.08030081540346146f,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,0.3123319149017334f,0.10377500206232071f,-0.044353384524583817f,-0.2320195883512497f,0.12762269377708435f,-0.08742031455039978f,0.05785742402076721f,-0.07219423353672028f,-0.2943510413169861f,0.1268840730190277f,-0.30447322130203247f,-0.044554103165864944f,-0.20284022390842438f,0.5049844980239868f,0.23406195640563965f},
+{-0.408692330121994f,0.7442746162414551f,-0.3166918158531189f,-0.5923694968223572f,-2.5536251068115234f,2.459355354309082f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,1.5557342767715454f,2.810499429702759f,0.883807361125946f,-0.5292647480964661f},
+{-0.2991822361946106f,0.3794580399990082f,-0.07897943258285522f,-0.05932474136352539f,-0.019097916781902313f,0.10188531875610352f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.015840977430343628f,-0.13475483655929565f,0.36124154925346375f,-0.16869547963142395f},
+{-0.2675279378890991f,-0.4076881408691406f,0.6109089851379395f,1.124742865562439f,0.791110098361969f,-1.8034776449203491f,-0.32875844836235046f,-0.31893211603164673f,-0.6889935731887817f,-1.1343306303024292f,-0.5256567001342773f,-0.8404866456985474f,1.0291988849639893f,-1.3514559268951416f,0.12213380634784698f,0.17103822529315948f},
+{-0.015470266342163086f,-0.23503242433071136f,0.13451209664344788f,0.36471807956695557f,-0.08753460645675659f,-0.20316985249519348f,0.05196094512939453f,-0.008358269929885864f,-0.4239840805530548f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,0.07671336829662323f,0.1646096110343933f,0.19001242518424988f,-0.29890790581703186f},
+{0.1863725483417511f,-0.07918193191289902f,-0.8252384066581726f,-36.685184478759766f,1.862860083580017f,1.8086168766021729f,0.04860696196556091f,0.17769548296928406f,-0.32842522859573364f,-0.40967434644699097f,-0.3929237127304077f,-0.0008496989612467587f,2.3736817836761475f,1.629492998123169f,-0.45149895548820496f,-0.32196617126464844f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.4260376989841461f,-0.28214895725250244f,-0.45515841245651245f,-0.6544750332832336f,1.6178936958312988f,0.0030125975608825684f,-0.10850305110216141f,0.40490925312042236f,-0.0290994793176651f,0.16892266273498535f,-0.16082262992858887f,-0.12769775092601776f,0.8889163732528687f,0.47501274943351746f,-1.023742914199829f };
-
-const float b1[16] = { 1.0162785053253174f,1.035319447517395f,-1.7145336866378784f,0.07014114409685135f,1.1736218929290771f,0.9144021272659302f,-0.058932315558195114f,1.0387669801712036f,-0.23452095687389374f,-1.037860631942749f,0.7774361371994019f,1.302432894706726f,-0.36770012974739075f,-0.9168588519096375f,-1.087764859199524f,0.9153636693954468f };
-
-const float b2[16] = { -0.3601553738117218f,-0.395068883895874f,-1.4564176797866821f,-0.7482815980911255f,-0.6939148902893066f,-0.21344754099845886f,0.37928327918052673f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.11691909283399582f,0.5385819673538208f,-0.22755393385887146f,1.9857735633850098f,-0.00982106477022171f,0.9335681200027466f };
-
-const float b3[16] = { -1.963319182395935f,-0.7248274683952332f,-0.27823957800865173f,-0.2004760503768921f,-0.028340673074126244f,0.3405115008354187f,-0.45353031158447266f,-0.7621715664863586f,-0.06493222713470459f,-0.030791999772191048f,-0.2325301319360733f,-0.16538390517234802f,-0.6433824300765991f,0.2660880982875824f,-1.2072917222976685f,-0.15581728518009186f };
-
-const float bout[1] = { 0.07336390763521194f };
+const float hout[16] = { 0.45773375034332275f,0.3443804383277893f,-0.43964359164237976f,-0.21056394279003143f,0.19662600755691528f,0.7040731906890869f,0.0030125975608825684f,0.15066689252853394f,0.10095822811126709f,-0.13003124296665192f,0.18801097571849823f,0.0785079076886177f,-0.15748845040798187f,0.1868625432252884f,0.18598346412181854f,-0.9022102355957031f };
+
+const float b1[16] = { 0.7107149362564087f,1.0883506536483765f,-1.7145336866378784f,0.09724511206150055f,1.4542453289031982f,1.417521595954895f,-0.058932315558195114f,0.9398505687713623f,0.4389953017234802f,-0.9609658718109131f,0.8672975301742554f,1.5156910419464111f,-0.3718140721321106f,-0.886523962020874f,-1.087764859199524f,2.5278995037078857f };
+
+const float b2[16] = { -0.4577406942844391f,-0.4344789981842041f,-1.4564176797866821f,-0.6435210704803467f,-0.6939148902893066f,-0.16397996246814728f,-0.013260572217404842f,-0.43840786814689636f,-1.20063054561615f,-1.912178635597229f,-0.1346415877342224f,0.10342646390199661f,-0.23722384870052338f,0.9154923558235168f,-0.1802087128162384f,1.0650097131729126f };
+
+const float b3[16] = { -1.963319182395935f,-0.7180035710334778f,0.7040019035339355f,-0.4437018930912018f,-0.7515134811401367f,1.0377838611602783f,-0.45353031158447266f,-0.6562485098838806f,0.04508165270090103f,0.06766403466463089f,-0.29913392663002014f,-0.09212813526391983f,-1.5836485624313354f,0.42195138335227966f,-1.3884198665618896f,-0.511356770992279f };
+
+const float bout[1] = { 0.09115694463253021f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };
@@ -1038,9 +1038,9 @@
 //            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 * 8.0f + 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] - torq.sen)/10000.0f + 0.5f;
 //                input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+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])/10000.0f + 0.5f;
                 ind = ind + 1;
             }