Diff: main.cpp

Revision:

192:637092202815

Parent:

191:9ca80cca68e3

Child:

193:4b5e617b8481

--- a/main.cpp	Fri Dec 18 00:58:54 2020 +0000
+++ b/main.cpp	Fri Dec 18 05:44:16 2020 +0000
@@ -1,4 +1,4 @@
-//201218_1
+//201218_2
 #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] = {
-    {-1.5377649068832397f,1.2348084449768066f,0.12903714179992676f,-0.7775466442108154f,-1.7313402891159058f,1.1328696012496948f,-0.17472904920578003f,-0.31568053364753723f,-1.6451395750045776f,0.08867859095335007f,-0.23520143330097198f,-1.8044253587722778f,-0.2673356235027313f,-0.7325633764266968f,-0.2571594715118408f,1.472490906715393f},
-{-1.1286786794662476f,0.7839595675468445f,-0.3927857577800751f,-0.6969871520996094f,-1.2280852794647217f,0.48096179962158203f,-0.4054011106491089f,-0.3208436667919159f,-1.0162376165390015f,0.3468303382396698f,-0.2720212936401367f,-1.157413363456726f,0.232293039560318f,-0.9538101553916931f,-0.20967772603034973f,1.1393009424209595f},
-{-0.81263667345047f,0.40442758798599243f,0.36391180753707886f,-0.7410301566123962f,-0.5623536705970764f,0.26899170875549316f,0.2872133255004883f,-0.01752573810517788f,-0.8192043304443359f,0.35837459564208984f,-0.3459203839302063f,-0.7548978924751282f,-0.0059507424011826515f,-0.33420637249946594f,0.05590221285820007f,0.33579739928245544f},
-{-0.29265180230140686f,-0.27822574973106384f,0.39742106199264526f,0.2536725103855133f,-0.03869828209280968f,-0.5511156320571899f,-0.11584559082984924f,0.37218543887138367f,-0.2952747344970703f,0.5005717277526855f,0.09789774566888809f,0.15287092328071594f,-0.1680694818496704f,-0.221437469124794f,-0.2961459457874298f,0.03926409035921097f},
-{0.9285116791725159f,-0.8077948093414307f,-0.0051451027393341064f,0.6920914649963379f,0.7559896111488342f,-0.9459089040756226f,0.1294034719467163f,0.15902996063232422f,0.3258247375488281f,0.32459303736686707f,0.3498339056968689f,0.6136358380317688f,-0.07163341343402863f,0.4614284634590149f,-0.3865056037902832f,-1.0294679403305054f},
-{2.3463828563690186f,-2.5303292274475098f,0.21773302555084229f,1.477303147315979f,2.240800619125366f,-2.3303043842315674f,0.16514194011688232f,0.05813070386648178f,1.3986808061599731f,0.34440353512763977f,-0.24573767185211182f,1.9037261009216309f,-0.268279105424881f,1.7655072212219238f,-0.4132833778858185f,-1.9700273275375366f},
-{-0.4369703531265259f,0.7387278079986572f,-0.2501986622810364f,-0.9271978139877319f,-1.1423627138137817f,1.097220540046692f,0.06014183163642883f,-1.050276517868042f,0.13420486450195312f,-0.2703655958175659f,0.15077415108680725f,-0.04091700538992882f,-0.17465755343437195f,-1.6798783540725708f,-0.15618428587913513f,-1.5135868787765503f},
-{-0.13573184609413147f,0.13010674715042114f,-0.26619744300842285f,-0.0794379785656929f,-0.70912104845047f,0.31772083044052124f,-0.17925891280174255f,-0.7659602761268616f,0.01908610202372074f,-0.16886766254901886f,0.10512365400791168f,-0.2623549699783325f,0.3695131838321686f,-0.7335740327835083f,0.04303058981895447f,-1.0657305717468262f},
-{0.7555938363075256f,-0.021008117124438286f,0.10248100757598877f,-0.00994115136563778f,0.31521323323249817f,-0.2205902636051178f,-0.07246989011764526f,-0.5589467883110046f,0.3382551074028015f,0.11823058128356934f,-0.29748186469078064f,0.6377660036087036f,0.22716356813907623f,1.0021276473999023f,-0.30555272102355957f,-0.732044517993927f},
-{0.3232681155204773f,-0.40787485241889954f,0.18462657928466797f,0.12388432025909424f,0.49224865436553955f,0.06522741168737411f,-0.2990540862083435f,-0.13266541063785553f,0.48252439498901367f,-0.6622780561447144f,-0.008490024134516716f,-0.3987669348716736f,0.3702549934387207f,0.7228370904922485f,0.3484981060028076f,-0.32474222779273987f},
-{0.5499926209449768f,0.16501271724700928f,0.37182438373565674f,0.2804836630821228f,0.1178550198674202f,0.07621731609106064f,-0.20339298248291016f,-0.033771634101867676f,-0.12858600914478302f,-0.13823570311069489f,0.34812381863594055f,-0.4757518470287323f,-0.0686570256948471f,0.7044376134872437f,0.26688337326049805f,-0.16891999542713165f},
-{-0.32638248801231384f,-0.2681056559085846f,-0.40320003032684326f,-0.0554439052939415f,0.13748574256896973f,0.08285294473171234f,0.1533789038658142f,0.3311554193496704f,0.001971070421859622f,0.052262917160987854f,-0.41445285081863403f,-0.10799311101436615f,0.14259445667266846f,0.46168866753578186f,0.10493969917297363f,0.2548428475856781f},
-{-0.027842355892062187f,-0.08303984254598618f,0.19847965240478516f,0.09461163729429245f,0.32331663370132446f,0.2865959703922272f,-0.2404318004846573f,0.08309822529554367f,-0.1785000115633011f,-0.3414570987224579f,-0.10929234325885773f,-0.48389771580696106f,0.08989179879426956f,0.35135433077812195f,-0.22268100082874298f,0.014733131974935532f},
-{-0.06475397944450378f,-0.0561961904168129f,0.4127817749977112f,-0.10577572137117386f,-0.17697541415691376f,-0.1849510818719864f,-0.32001304626464844f,-0.36673668026924133f,-0.21330887079238892f,-0.3657089173793793f,-0.1951775997877121f,-0.3619512915611267f,-0.31488466262817383f,0.26527494192123413f,0.0479682981967926f,0.45723286271095276f},
-{0.10058767348527908f,0.18761076033115387f,0.20282304286956787f,-0.08738672733306885f,0.2697560787200928f,0.0342223234474659f,0.04202890396118164f,0.20938999950885773f,0.05025419965386391f,-0.052940960973501205f,-0.27958524227142334f,-0.7458251714706421f,0.10142271965742111f,0.16368134319782257f,0.0668090283870697f,0.6141231656074524f},
-{-0.1128726527094841f,-0.1546522080898285f,-0.40439701080322266f,-0.30092698335647583f,-0.24299722909927368f,0.15388551354408264f,-0.15568238496780396f,-0.037944644689559937f,0.05713915079832077f,-0.13745471835136414f,-0.47403645515441895f,-0.43296101689338684f,-0.27326998114585876f,0.4320793151855469f,-0.08245879411697388f,0.5419437885284424f},
-{0.04264898970723152f,-0.14219117164611816f,0.16706281900405884f,-0.06084718555212021f,0.0778137817978859f,-0.31440258026123047f,-0.041414469480514526f,0.07056988030672073f,0.15166155993938446f,-0.038817811757326126f,-0.3537028133869171f,0.07804109901189804f,0.10987777262926102f,1.3651574850082397f,0.29427415132522583f,0.09650146216154099f},
+    {-1.6065647602081299f,1.4442633390426636f,0.12903714179992676f,0.45971256494522095f,-1.8865612745285034f,1.5917413234710693f,-0.17472904920578003f,1.3308944702148438f,-2.2597649097442627f,-0.03385619446635246f,-0.23437689244747162f,-1.2534494400024414f,-0.26408806443214417f,-1.170938491821289f,-0.2571594715118408f,-1.0241847038269043f},
+{-1.0844218730926514f,0.8761997222900391f,-0.3927857577800751f,0.10885071754455566f,-1.2577664852142334f,0.7939999103546143f,-0.4054011106491089f,0.5431910753250122f,-1.5450149774551392f,0.22130662202835083f,-0.27116647362709045f,-0.7526845335960388f,0.23553097248077393f,-1.0955637693405151f,-0.20967772603034973f,-0.6584876179695129f},
+{-0.8407496213912964f,0.5658552646636963f,0.36391180753707886f,-0.2829425036907196f,-0.6343178153038025f,0.6252744793891907f,0.2872133255004883f,0.39229825139045715f,-1.4613970518112183f,0.22947895526885986f,-0.34503698348999023f,-0.4441416561603546f,-0.00272137182764709f,-0.3266361355781555f,0.05590221285820007f,-1.1430491209030151f},
+{-0.35328859090805054f,-0.09043431282043457f,0.39742106199264526f,0.33738622069358826f,-0.10881924629211426f,-0.196650430560112f,-0.11584559082984924f,0.22384493052959442f,-1.0161447525024414f,0.367963969707489f,0.09880797564983368f,0.34261059761047363f,-0.16485224664211273f,-0.029696160927414894f,-0.2961459457874298f,-0.9798188209533691f},
+{1.1166077852249146f,-0.8807020783424377f,-0.0051451027393341064f,0.24785789847373962f,0.9506633281707764f,-0.8863392472267151f,0.1294034719467163f,-1.1181002855300903f,-0.1819683164358139f,0.18784251809120178f,0.35077041387557983f,0.5736857056617737f,-0.06842327117919922f,1.0477333068847656f,-0.3865056037902832f,-0.9327677488327026f},
+{3.284773111343384f,-3.371878147125244f,0.21773302555084229f,0.23583510518074036f,3.1542773246765137f,-3.0821757316589355f,0.16514194011688232f,-3.329540491104126f,1.6303980350494385f,0.20284788310527802f,-0.24478337168693542f,1.4629696607589722f,-0.26506540179252625f,3.08347487449646f,-0.4132833778858185f,0.32265838980674744f},
+{-0.16142688691616058f,0.6516218781471252f,-0.2501986622810364f,-0.7905404567718506f,-0.6181723475456238f,0.8566709160804749f,0.06014183163642883f,-0.4896201193332672f,1.5439631938934326f,-0.1533675193786621f,0.15192021429538727f,-0.10490059852600098f,-0.1730978935956955f,0.016282489523291588f,-0.15618428587913513f,0.5365569591522217f},
+{-0.8748350739479065f,0.699435293674469f,-0.26619744300842285f,-0.08359992504119873f,-1.2200344800949097f,0.7180229425430298f,-0.17925891280174255f,0.24654683470726013f,0.32283562421798706f,0.030707592144608498f,0.10629666596651077f,-0.48497965931892395f,0.37155985832214355f,-0.5724917650222778f,0.04303058981895447f,0.5190708637237549f},
+{0.44692766666412354f,0.06991451233625412f,0.10248100757598877f,-0.6408140659332275f,0.08631881326436996f,-0.2442355901002884f,-0.07246989011764526f,-0.8822688460350037f,0.9748199582099915f,0.2915976345539093f,-0.2963060140609741f,0.3272884786128998f,0.22921693325042725f,0.7057540416717529f,-0.30555272102355957f,1.1995744705200195f},
+{0.10254709422588348f,-0.41143253445625305f,0.18462657928466797f,-0.4237739145755768f,0.2854340970516205f,-0.03984415903687477f,-0.2990540862083435f,-0.3689456582069397f,1.033217430114746f,-0.506875216960907f,-0.007301787845790386f,-0.4488030672073364f,0.372331827878952f,0.18685422837734222f,0.3484981060028076f,0.7737299799919128f},
+{0.4530602991580963f,0.06132202595472336f,0.37182438373565674f,-0.03273813799023628f,0.0010348001960664988f,-0.13872838020324707f,-0.20339298248291016f,0.0005765249952673912f,0.3678560256958008f,0.007492598611861467f,0.3493041396141052f,-0.34462884068489075f,-0.06654797494411469f,0.24928389489650726f,0.26688337326049805f,0.2785782217979431f},
+{-0.4162179231643677f,-0.3465555012226105f,-0.40320003032684326f,-0.26510435342788696f,0.01366904191672802f,-0.13112711906433105f,0.1533789038658142f,0.6211925745010376f,0.4397057294845581f,0.1924997866153717f,-0.41328826546669006f,-0.0027057332918047905f,0.14470605552196503f,0.1354319006204605f,0.10493969917297363f,0.35834529995918274f},
+{-0.09877526015043259f,-0.15477481484413147f,0.19847965240478516f,-0.08667934685945511f,0.21006469428539276f,0.05856190621852875f,-0.2404318004846573f,0.5306714177131653f,0.29814204573631287f,-0.20526979863643646f,-0.10813693702220917f,-0.45609328150749207f,0.09201034903526306f,0.1650717556476593f,-0.22268100082874298f,-0.07950642704963684f},
+{-0.18069559335708618f,-0.07498950511217117f,0.4127817749977112f,-0.29987478256225586f,-0.34160202741622925f,-0.36815145611763f,-0.32001304626464844f,0.18809133768081665f,0.2339780628681183f,-0.23265855014324188f,-0.19404397904872894f,-0.44801175594329834f,-0.31276315450668335f,0.09648053348064423f,0.0479682981967926f,0.23451268672943115f},
+{0.09760818630456924f,0.05593819171190262f,0.20282304286956787f,-0.1285126656293869f,0.21780484914779663f,-0.24251754581928253f,0.04202890396118164f,0.8997607827186584f,0.4931466281414032f,0.07827243953943253f,-0.2784428298473358f,-0.7169914841651917f,0.10353262722492218f,0.04148343950510025f,0.0668090283870697f,0.10605200380086899f},
+{-0.17180080711841583f,-0.24694566428661346f,-0.40439701080322266f,-0.278349369764328f,-0.3476768434047699f,-0.05055616796016693f,-0.15568238496780396f,0.7173581123352051f,0.24213942885398865f,-0.006808132864534855f,-0.47287464141845703f,-0.4041852056980133f,-0.2711547017097473f,0.034751903265714645f,-0.08245879411697388f,-0.017323751002550125f},
+{0.10924900323152542f,-0.37913835048675537f,0.16706281900405884f,-0.1058274433016777f,0.09666857868432999f,-0.6143539547920227f,-0.041414469480514526f,0.46004220843315125f,0.15673750638961792f,0.09002777934074402f,-0.35252657532691956f,0.13107328116893768f,0.11200001835823059f,0.6850409507751465f,0.29427415132522583f,-0.10907641053199768f},
 };
 
 const float h2[16][16] = {
-    {-0.30360984802246094f,2.638908863067627f,-0.06966331601142883f,-2.1284985542297363f,-0.21907491981983185f,1.5969719886779785f,-0.11378823220729828f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.2562443017959595f,-0.4410564601421356f,-0.013608419336378574f,-2.052125930786133f,-0.3983412981033325f,-1.9826109409332275f},
-{0.04869420453906059f,-0.9130892157554626f,0.057057321071624756f,-0.5089913010597229f,-0.35503754019737244f,-1.2973040342330933f,-1.0162988901138306f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.071617841720581f,-0.8869436383247375f,0.23050862550735474f,1.0951136350631714f,1.5778846740722656f,-1.7874358892440796f},
+    {-0.2100285440683365f,0.5450449585914612f,-0.06966331601142883f,-0.16327691078186035f,-0.21907491981983185f,-0.7174352407455444f,-0.08997400104999542f,0.03496444225311279f,-0.43008196353912354f,-0.1415480375289917f,-1.024130940437317f,-0.43296945095062256f,0.12968102097511292f,-1.542701005935669f,-0.4490607678890228f,-4.010191440582275f},
+{0.09335885941982269f,-2.328054904937744f,0.057057321071624756f,-0.4136889576911926f,-0.35503754019737244f,-1.8548954725265503f,-0.5476264953613281f,-0.3163917064666748f,-0.33757925033569336f,0.2895788848400116f,-3.989751100540161f,-0.2958875000476837f,0.33698758482933044f,2.3751473426818848f,-0.10209953784942627f,-1.2367063760757446f},
 {-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},
-{0.0389205701649189f,-0.2350102663040161f,-0.2894435524940491f,0.6463852524757385f,0.08946844935417175f,0.02936168573796749f,-0.504420280456543f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.22434934973716736f,0.036702197045087814f,-0.5147730708122253f,-0.26475679874420166f,-0.012437191791832447f,0.2709595263004303f},
-{-0.40975338220596313f,0.9070354104042053f,-0.25313520431518555f,0.48267850279808044f,0.036378175020217896f,1.1078479290008545f,-0.5186612010002136f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.4139823019504547f,-0.9831398129463196f,-0.03532028570771217f,-2.3388190269470215f,0.6467065215110779f,-0.33112117648124695f},
-{0.24459777772426605f,0.1711728870868683f,-0.3519742488861084f,-1.8791543245315552f,-0.3015052080154419f,-1.0918842554092407f,-1.0872746706008911f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.936398446559906f,-0.4908921718597412f,-0.32434627413749695f,0.8514059782028198f,1.6185284852981567f,-3.258086919784546f},
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 };
 
 const float h3[16][16] = {
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+{0.15459725260734558f,0.8427432179450989f,0.679609477519989f,-0.1838339865207672f,-0.8048290014266968f,1.4805269241333008f,-0.08742031455039978f,0.05785742402076721f,-0.4665476381778717f,0.49658796191215515f,-0.08510879427194595f,-0.309722363948822f,-0.2896781861782074f,-0.9483605027198792f,0.4396055340766907f,0.17858834564685822f},
+{-0.408692330121994f,0.15604840219020844f,-0.11896948516368866f,0.0922636091709137f,-0.1451295167207718f,0.10412421077489853f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.07742909342050552f,0.12809070944786072f,0.03996849060058594f,-0.4220041334629059f,-0.2886850833892822f,-0.3350064158439636f,0.3153386116027832f},
+{-0.2991822361946106f,0.3794580399990082f,-0.07897943258285522f,-0.05932474136352539f,0.08582660555839539f,0.24227938055992126f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.015840977430343628f,-0.13475483655929565f,0.36124154925346375f,-0.16869547963142395f},
+{-0.2675279378890991f,0.4225318431854248f,-1.3155782222747803f,0.011379898525774479f,1.3093910217285156f,0.03549259528517723f,-0.32875844836235046f,-0.31893211603164673f,-0.9009249806404114f,-0.3259560763835907f,-0.5623511672019958f,-0.42054229974746704f,0.45179739594459534f,2.150045156478882f,0.3168305456638336f,0.050804875791072845f},
+{-0.015470266342163086f,-0.5833328366279602f,0.6117988228797913f,0.3354269862174988f,0.33325907588005066f,-0.5840275883674622f,0.05196094512939453f,-0.008358269929885864f,-0.5232630372047424f,-0.37522807717323303f,0.06831542402505875f,-0.11511552333831787f,0.5202909708023071f,-0.2629256248474121f,-0.06220770627260208f,-0.4585099518299103f},
+{0.1863725483417511f,1.084182858467102f,-1.0181115865707397f,-0.4724007248878479f,-0.33689597249031067f,0.9457219839096069f,0.04860696196556091f,0.17769548296928406f,-0.12625347077846527f,0.3378079831600189f,-0.4645434319972992f,0.19592127203941345f,-0.12818381190299988f,1.0687506198883057f,-0.028336618095636368f,-0.11500971764326096f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.6198812127113342f,3.075077533721924f,-0.6007036566734314f,0.24847236275672913f,1.247266173362732f,0.0030125975608825684f,0.15066689252853394f,0.05033086612820625f,0.0533946268260479f,0.11185391992330551f,-0.1749655306339264f,-1.0110498666763306f,1.219071388244629f,1.8872015476226807f,-0.16191136837005615f };
-
-const float b1[16] = { 0.5638260245323181f,1.1806942224502563f,-1.7145336866378784f,0.24818021059036255f,0.8975874781608582f,1.2844585180282593f,-0.058932315558195114f,0.825614333152771f,1.6077704429626465f,-1.1153591871261597f,0.5720832943916321f,1.1545846462249756f,-0.3732912540435791f,-1.3868684768676758f,-1.087764859199524f,0.9789383411407471f };
-
-const float b2[16] = { -0.2617855966091156f,-0.8839436173439026f,-1.4564176797866821f,-0.6468855738639832f,-0.6939148902893066f,0.16817186772823334f,0.09135577827692032f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.1662583202123642f,0.14832311868667603f,-0.23087339103221893f,1.7029191255569458f,0.10706561803817749f,0.5922772884368896f };
-
-const float b3[16] = { -1.963319182395935f,-0.13796980679035187f,-0.907817006111145f,0.09013273566961288f,-0.1457054167985916f,0.9321498870849609f,-0.45353031158447266f,-0.6562485098838806f,-0.01854712702333927f,-0.023044707253575325f,-0.4521785378456116f,-0.06036800891160965f,-1.33890962600708f,0.4787708818912506f,-1.2732046842575073f,-0.41846638917922974f };
-
-const float bout[1] = { -1.3581293821334839f };
+const float hout[16] = { 0.45773375034332275f,1.3250397443771362f,-0.43074095249176025f,-0.16762784123420715f,-0.8715445399284363f,-0.003051317995414138f,0.0030125975608825684f,0.15066689252853394f,-0.0765313059091568f,0.4119625687599182f,0.11355479061603546f,-0.2710728645324707f,-0.8439583778381348f,0.3218585252761841f,0.46201157569885254f,-0.1275034099817276f };
+
+const float b1[16] = { 0.34294191002845764f,1.5131592750549316f,-1.7145336866378784f,0.27451324462890625f,0.7751843929290771f,1.270938515663147f,-0.058932315558195114f,0.9476056098937988f,1.562255859375f,-1.0377662181854248f,0.5732393264770508f,1.2818049192428589f,-0.37127330899238586f,-1.085002064704895f,-1.087764859199524f,2.2922277450561523f };
+
+const float b2[16] = { -0.1286313831806183f,-1.2512075901031494f,-1.4564176797866821f,-0.8030261397361755f,-0.6939148902893066f,-0.16376319527626038f,0.1311706006526947f,-0.3665841221809387f,-1.20063054561615f,-1.912178635597229f,-0.45517241954803467f,0.411864310503006f,-0.07918518036603928f,1.8873957395553589f,-0.0411815345287323f,0.7242259383201599f };
+
+const float b3[16] = { -1.963319182395935f,-0.7351341247558594f,0.33326515555381775f,-0.1386529505252838f,0.015884902328252792f,-0.056516703218221664f,-0.45353031158447266f,-0.6562485098838806f,-0.015211169607937336f,0.611303448677063f,-0.34831100702285767f,-0.014407366514205933f,-0.7992978692054749f,-1.2589401006698608f,-1.226777195930481f,-0.5482154488563538f };
+
+const float bout[1] = { 0.22396063804626465f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };
@@ -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;
             }
 
@@ -2831,7 +2831,7 @@
             if (flag_data_request[3] == HIGH) {
                 //PWM
                 //CAN_TX_PWM((int16_t) (V[0]*100.0f)); //1500
-                CAN_TX_PWM((int16_t) (torq.ref)); //1500
+                CAN_TX_PWM((int16_t) (f_future[1])); //1500
             }
 
             if (flag_data_request[4] == HIGH) {