Diff: main.cpp

Revision:

198:bc4dfecb8e32

Parent:

197:50e95ba0ade2

Child:

199:ee79b4692e3b

--- a/main.cpp	Sat Dec 19 08:57:06 2020 +0000
+++ b/main.cpp	Sun Dec 20 03:03:08 2020 +0000
@@ -1,4 +1,4 @@
-//201219_with_delay
+//201220_1_with_delay
 #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] = {
-    {-2.05708909034729f,3.186411142349243f,0.12903714179992676f,1.1522443294525146f,-4.77985954284668f,4.988513469696045f,-0.17472904920578003f,-0.7710135579109192f,-1.6287260055541992f,-4.90599250793457f,-0.1063576489686966f,-2.722536325454712f,-3.285773992538452f,-1.8041954040527344f,-0.2571594715118408f,-0.19243751466274261f},
-{-0.5134673714637756f,0.850974977016449f,-0.3927857577800751f,-0.35398679971694946f,-1.7932156324386597f,2.4975759983062744f,-0.4054011106491089f,-0.1427018940448761f,-0.8026003837585449f,-1.3023022413253784f,-0.6186515688896179f,-0.6010700464248657f,-0.52750563621521f,-1.032634973526001f,-0.20967772603034973f,0.07275804877281189f},
-{-0.066841721534729f,-0.7892441749572754f,0.36391180753707886f,-1.1049953699111938f,0.8302334547042847f,0.145523339509964f,0.2872133255004883f,-0.23196928203105927f,-0.8545001149177551f,1.5305473804473877f,-1.3627126216888428f,1.4795163869857788f,0.9375577569007874f,0.6764299273490906f,0.05590221285820007f,0.4362540543079376f},
-{0.4236474335193634f,-1.4789464473724365f,0.39742106199264526f,-0.9245060086250305f,1.6349233388900757f,-1.8302228450775146f,-0.11584559082984924f,-1.033275842666626f,-0.2314160317182541f,2.3230981826782227f,-1.3284986019134521f,2.215522050857544f,0.9562681913375854f,1.3459151983261108f,-0.2961459457874298f,1.4592657089233398f},
-{2.2037711143493652f,-2.3931355476379395f,-0.0051451027393341064f,-1.6210885047912598f,4.003640651702881f,-3.840949773788452f,0.1294034719467163f,-0.8414157629013062f,1.5438644886016846f,3.9199259281158447f,-0.8511825799942017f,2.865309000015259f,1.4463257789611816f,2.064455032348633f,-0.3865056037902832f,0.3730478286743164f},
-{-0.11275540292263031f,0.9484487175941467f,0.21773302555084229f,2.8727660179138184f,-0.1065288633108139f,-1.7705634832382202f,0.16514194011688232f,3.2009992599487305f,2.407309055328369f,-1.1651065349578857f,4.242412567138672f,-3.063631534576416f,0.47985541820526123f,-1.2354117631912231f,-0.4132833778858185f,-2.181981086730957f},
-{-0.09938614070415497f,3.5773942470550537f,-0.2501986622810364f,-0.13928787410259247f,-0.037008676677942276f,-0.03511349856853485f,0.06014183163642883f,-0.4759536683559418f,-0.06337887793779373f,0.14054207503795624f,-0.42060503363609314f,0.19486430287361145f,-4.041183948516846f,4.967502117156982f,-0.15618428587913513f,-0.5009685754776001f},
-{-6.928924560546875f,0.6427025198936462f,-0.26619744300842285f,3.9012463092803955f,-2.184589385986328f,-3.624392509460449f,-0.17925891280174255f,-2.07382869720459f,0.13725543022155762f,-0.8136168122291565f,4.00950813293457f,-1.4740347862243652f,-1.433410406112671f,0.022372480481863022f,0.04303058981895447f,-1.781483769416809f},
-{3.6579532623291016f,-3.307387590408325f,0.10248100757598877f,-2.6607558727264404f,0.5396132469177246f,0.6482411623001099f,-0.07246989011764526f,-7.981725215911865f,-3.1790192127227783f,1.7948887348175049f,-7.444221019744873f,3.593710422515869f,4.345944404602051f,0.9924588799476624f,-0.30555272102355957f,2.0975594520568848f},
-{-3.400193214416504f,2.0092344284057617f,0.18462657928466797f,-6.360235214233398f,1.7909657955169678f,-0.017668945714831352f,-0.2990540862083435f,3.4985127449035645f,6.280633926391602f,-0.7703721523284912f,0.5939630270004272f,-5.173768520355225f,3.7344818115234375f,2.7632744312286377f,0.3484981060028076f,0.9411026239395142f},
-{1.6706088781356812f,-0.5848070383071899f,0.37182438373565674f,3.818086862564087f,-0.6287387013435364f,-0.04289967194199562f,-0.20339298248291016f,2.0016133785247803f,-6.318286418914795f,0.41212618350982666f,3.4429900646209717f,-0.8561667799949646f,-0.6144111752510071f,-0.15154114365577698f,0.26688337326049805f,-7.914551734924316f},
-{3.817580223083496f,-0.9478880167007446f,-0.40320003032684326f,1.9463788270950317f,-1.1352602243423462f,-1.0062247514724731f,0.1533789038658142f,0.31628814339637756f,1.0758967399597168f,0.20902790129184723f,0.8699947595596313f,0.035382118076086044f,0.4103728234767914f,0.7292467355728149f,0.10493969917297363f,5.7628936767578125f},
-{-1.4826020002365112f,-0.017168715596199036f,0.19847965240478516f,0.5530301928520203f,0.8296269774436951f,1.094685673713684f,-0.2404318004846573f,0.2031107395887375f,1.0775611400604248f,-0.36457428336143494f,-0.08059465140104294f,1.811431884765625f,0.13296887278556824f,0.5637132525444031f,-0.22268100082874298f,0.9920644164085388f},
-{0.10934057831764221f,0.29417213797569275f,0.4127817749977112f,-0.2295745611190796f,-0.06648509204387665f,-0.335322767496109f,-0.32001304626464844f,-0.08723939955234528f,-0.1633664220571518f,0.024810004979372025f,-0.3360883295536041f,-0.1956489086151123f,0.2085038125514984f,-0.11261153966188431f,0.0479682981967926f,-0.34844690561294556f},
-{-0.4475245475769043f,-0.06329675763845444f,0.20282304286956787f,-0.29542261362075806f,-0.06878867000341415f,0.18237599730491638f,0.04202890396118164f,-0.21386225521564484f,0.18389460444450378f,0.07724341750144958f,0.59593266248703f,0.02376031130552292f,-0.23211097717285156f,-0.027928775176405907f,0.0668090283870697f,-0.1131569892168045f},
-{-0.05932091549038887f,0.024183889850974083f,-0.40439701080322266f,0.06835188716650009f,-0.0013422847259789705f,0.07840344309806824f,-0.15568238496780396f,0.09824986755847931f,0.09857259690761566f,0.001587049220688641f,-0.2749989628791809f,0.4360615015029907f,0.08637247234582901f,0.11287035793066025f,-0.08245879411697388f,-0.26716044545173645f},
-{0.03818594291806221f,-0.09347709268331528f,0.16706281900405884f,-0.0405823290348053f,0.07498817145824432f,-0.062178123742341995f,-0.041414469480514526f,-0.042331963777542114f,-0.3425905108451843f,-0.09295454621315002f,0.13697385787963867f,-0.357461154460907f,-0.01628359965980053f,0.0008555047679692507f,0.29427415132522583f,0.11630304902791977f},
+    {-2.492051839828491f,2.4516725540161133f,0.12903714179992676f,-2.490757465362549f,-2.6756582260131836f,2.4281091690063477f,-0.25895145535469055f,-0.2330438494682312f,-0.3288726806640625f,1.7969430685043335f,0.33044230937957764f,-2.8259778022766113f,-2.8330631256103516f,0.2416958063840866f,-0.2571594715118408f,2.2232203483581543f},
+{-1.3854602575302124f,1.5994855165481567f,-0.3927857577800751f,-1.091575026512146f,-1.0983558893203735f,1.2194273471832275f,-0.48985767364501953f,0.4625398814678192f,-0.4161548912525177f,0.5750619173049927f,0.15368761122226715f,-1.7419500350952148f,-0.9391921162605286f,-0.31723925471305847f,-0.20967772603034973f,1.1359047889709473f},
+{-1.0888410806655884f,1.1380627155303955f,0.36391180753707886f,-0.8528419137001038f,-0.5124239325523376f,1.0754810571670532f,0.20260077714920044f,0.02969699166715145f,-0.11756117641925812f,-0.3696632981300354f,-0.27259182929992676f,-1.1658742427825928f,-0.43726029992103577f,0.14137530326843262f,0.05590221285820007f,0.6036397814750671f},
+{-0.5521246790885925f,0.10764690488576889f,0.39742106199264526f,0.14577916264533997f,-0.3091053068637848f,0.17434029281139374f,-0.20044343173503876f,-0.68796306848526f,0.6097877621650696f,-0.42812103033065796f,0.050127483904361725f,0.2115311473608017f,-0.007273299619555473f,0.029505113139748573f,-0.2961459457874298f,0.5710861682891846f},
+{1.207394003868103f,-1.1674365997314453f,-0.0051451027393341064f,1.0202738046646118f,0.7490691542625427f,-0.9034024477005005f,0.04487033560872078f,-0.9898844957351685f,0.7452301979064941f,-0.47734594345092773f,0.24034416675567627f,1.5481359958648682f,1.1834068298339844f,0.14985936880111694f,-0.3865056037902832f,-0.9457556009292603f},
+{4.191114902496338f,-4.077197074890137f,0.21773302555084229f,3.4757556915283203f,4.026125907897949f,-4.04514217376709f,0.0805748701095581f,1.4911282062530518f,-0.10712718218564987f,-0.8101842999458313f,-0.6279340982437134f,4.144664287567139f,3.1387953758239746f,0.27788639068603516f,-0.4132833778858185f,-3.7526161670684814f},
+{0.05604593828320503f,-0.5269882678985596f,-0.2501986622810364f,0.8053929209709167f,-0.508767306804657f,1.2673035860061646f,0.1702369749546051f,0.41742753982543945f,3.923818349838257f,2.9203224182128906f,4.625209808349609f,0.8557388782501221f,0.5013881325721741f,0.2669181227684021f,-0.15618428587913513f,-1.7190253734588623f},
+{-0.29786035418510437f,-0.6146117448806763f,-0.26619744300842285f,-0.35863757133483887f,-0.8377414345741272f,-0.29022303223609924f,-0.078120656311512f,-5.662913799285889f,-3.735013008117676f,-3.5222713947296143f,0.5320702791213989f,-0.01984715275466442f,-0.2300022393465042f,0.02583559788763523f,0.04303058981895447f,2.2264418601989746f},
+{-0.005315178073942661f,0.4084877669811249f,0.10248100757598877f,-0.049130890518426895f,-0.10337845981121063f,0.180928573012352f,0.02361851930618286f,-2.048043727874756f,-3.8224282264709473f,-0.7895442247390747f,-0.5650206208229065f,0.23716439306735992f,2.640312433242798f,0.10206064581871033f,-0.30555272102355957f,0.07618159055709839f},
+{0.10099751502275467f,-0.398851603269577f,0.18462657928466797f,0.40458497405052185f,0.5282383561134338f,0.2875088155269623f,-0.20621144771575928f,0.8464758396148682f,-2.340078592300415f,3.711749792098999f,-6.100204944610596f,-0.5303384065628052f,3.87209153175354f,-0.31372106075286865f,0.3484981060028076f,-0.9589624404907227f},
+{0.3724943995475769f,0.2132701277732849f,0.37182438373565674f,1.3321770429611206f,0.3190871775150299f,0.08779194951057434f,-0.11073392629623413f,0.04808827489614487f,4.836231708526611f,1.5474936962127686f,2.618411064147949f,-0.7479416728019714f,-2.667581081390381f,-0.07993866503238678f,0.26688337326049805f,0.20610198378562927f},
+{-0.21814200282096863f,-0.21748900413513184f,-0.40320003032684326f,0.39444229006767273f,0.3996942639350891f,-0.23974381387233734f,0.24927140772342682f,0.42778199911117554f,-1.496774673461914f,-0.9519236087799072f,-0.2538074254989624f,-0.045760106295347214f,-0.03449362516403198f,-0.08651508390903473f,0.10493969917297363f,-0.2107759714126587f},
+{-0.10616457462310791f,0.05422089993953705f,0.19847965240478516f,0.3579346239566803f,0.19547772407531738f,-0.13439396023750305f,-0.14413191378116608f,-0.09275151789188385f,-0.12082389742136002f,-3.9278764724731445f,-0.8460808396339417f,-0.00010032631689682603f,-0.6260793209075928f,-0.05694044753909111f,-0.22268100082874298f,-0.3159164488315582f},
+{-0.06967504322528839f,0.18296405673027039f,0.4127817749977112f,0.21173477172851562f,0.03739193454384804f,-0.2718232572078705f,-0.22765624523162842f,0.0479109026491642f,-0.8458966016769409f,-2.188527822494507f,-0.5611924529075623f,0.03390118479728699f,-0.6283928155899048f,-0.14168457686901093f,0.0479682981967926f,0.0000061300816014409065f},
+{0.05417802184820175f,0.03646376356482506f,0.20282304286956787f,0.14569750428199768f,0.0335032157599926f,-0.05122561752796173f,0.13000749051570892f,-0.057157427072525024f,0.7048590779304504f,2.26005220413208f,0.2068970799446106f,-0.133168026804924f,0.2436632364988327f,-0.13851526379585266f,0.0668090283870697f,0.3664224445819855f},
+{0.06464312970638275f,-0.045170340687036514f,-0.40439701080322266f,-0.11053092777729034f,-0.015158046968281269f,0.16447672247886658f,-0.07142936438322067f,0.15182127058506012f,-0.13264119625091553f,-0.23641446232795715f,0.4588874280452728f,-0.011651065200567245f,0.040492258965969086f,-0.09876388311386108f,-0.08245879411697388f,0.03925871476531029f},
+{-0.02269779145717621f,0.059974778443574905f,0.16706281900405884f,0.46414104104042053f,-0.21328707039356232f,-0.45228299498558044f,0.041288089007139206f,0.06836040318012238f,-0.32144632935523987f,0.8764961957931519f,-0.4899333417415619f,-0.17487938702106476f,-0.3217511773109436f,0.24882397055625916f,0.29427415132522583f,-0.017587721347808838f},
 };
 
 const float h2[16][16] = {
-    {-0.8341764807701111f,-0.6067641377449036f,-0.06966331601142883f,1.6620731353759766f,-0.21907491981983185f,2.0616698265075684f,0.0655006542801857f,0.0446651317179203f,-0.43008196353912354f,-0.2518785297870636f,0.6948223114013672f,-2.2983310222625732f,-0.02717401273548603f,-0.07109256088733673f,0.4075045883655548f,-0.1310095340013504f},
-{-0.13943351805210114f,-0.04559600353240967f,0.057057321071624756f,-0.44137006998062134f,-0.35503754019737244f,-0.44499722123146057f,-0.667557954788208f,-0.3348168432712555f,-0.33757925033569336f,0.13575440645217896f,-0.43612033128738403f,-1.6604005098342896f,0.17714782059192657f,0.7811383008956909f,-1.3742358684539795f,-0.14819425344467163f},
+    {3.0738728046417236f,1.559771180152893f,-0.19042335450649261f,0.3914716839790344f,-0.21907491981983185f,1.6640474796295166f,0.13948610424995422f,-0.08634524047374725f,-0.5460954904556274f,-0.2652187943458557f,0.06963741779327393f,-3.5057811737060547f,-0.0956161767244339f,-5.765225887298584f,-0.46290507912635803f,5.082071304321289f},
+{-2.4444243907928467f,1.0142027139663696f,-0.07617853581905365f,-2.0465540885925293f,-0.35503754019737244f,0.25830844044685364f,-0.33918139338493347f,-0.42322224378585815f,-0.4216797351837158f,0.22551164031028748f,0.9671986103057861f,0.11130780726671219f,0.07124756276607513f,1.1827691793441772f,-2.5495834350585938f,-2.0869014263153076f},
 {-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},
-{0.923111617565155f,-0.3925030529499054f,-0.2894435524940491f,-4.214643478393555f,0.08946844935417175f,0.9371825456619263f,-0.5534926652908325f,0.21740393340587616f,0.26211628317832947f,0.2953031361103058f,-0.9797146916389465f,-4.698434829711914f,-0.4869251847267151f,0.023502085357904434f,0.70460444688797f,0.20284660160541534f},
-{1.7112555503845215f,2.3695321083068848f,-0.25313520431518555f,3.203413248062134f,0.036378175020217896f,0.8077892065048218f,-0.4755769968032837f,-0.13222959637641907f,-0.024399548768997192f,-0.39465832710266113f,-1.177101492881775f,1.6098895072937012f,-0.18945904076099396f,-2.4381227493286133f,-1.0014407634735107f,1.9238423109054565f},
-{0.02399083785712719f,2.2467095851898193f,-0.3519742488861084f,3.362551689147949f,-0.3015052080154419f,0.30396854877471924f,-0.6611042618751526f,-0.06323602795600891f,-0.23047015070915222f,0.225139781832695f,2.7001774311065674f,-4.270605564117432f,-0.39870911836624146f,3.4690911769866943f,2.8700716495513916f,-1.0183147192001343f},
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-{0.3770306408405304f,0.7105547785758972f,0.33083590865135193f,-0.636288583278656f,-0.14358049631118774f,-1.2429746389389038f,-0.33660444617271423f,-0.3461519777774811f,0.2600560486316681f,-0.37898191809654236f,-2.322720766067505f,1.0403022766113281f,-0.44419312477111816f,0.12145557999610901f,0.8076303005218506f,0.25913602113723755f},
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 };
 
 const float h3[16][16] = {
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+{0.4110594093799591f,0.2715781033039093f,-0.23423463106155396f,0.37246426939964294f,0.192606121301651f,-0.08329644799232483f,-0.08670487999916077f,-0.25336313247680664f,0.04357413947582245f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.2678389847278595f,0.05402490124106407f,0.24188868701457977f,-0.28574222326278687f},
+{-0.40892091393470764f,0.13580100238323212f,-0.5269189476966858f,0.24296578764915466f,0.1986200511455536f,0.08784182369709015f,-0.23312048614025116f,-0.390264093875885f,0.38584989309310913f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.3474012613296509f,-0.19688887894153595f,0.22498734295368195f,-0.03074646182358265f},
+{0.10697010159492493f,-0.032194703817367554f,-0.18512000143527985f,0.11056272685527802f,-0.457832396030426f,-0.08291787654161453f,-0.1382003128528595f,0.3493293821811676f,-0.1379433423280716f,-0.18000167608261108f,0.42142823338508606f,-0.3482915461063385f,-0.4284936785697937f,-0.09961219877004623f,0.20204155147075653f,-0.18239720165729523f},
+{0.2847062647342682f,0.018552124500274658f,0.1271415501832962f,0.36562982201576233f,-0.09210338443517685f,0.2671583592891693f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.30147701501846313f,-0.09805309772491455f,0.1475500762462616f,0.2664158046245575f},
+{0.15459725260734558f,0.8468127250671387f,0.5192074775695801f,0.3231939673423767f,-8.05964183807373f,-0.3391801416873932f,1.1652286052703857f,-0.3086276054382324f,0.5984497666358948f,-1.6198935508728027f,2.087207317352295f,-0.5538924932479858f,-0.3962406814098358f,-0.048027459532022476f,0.5870500206947327f,0.09704883396625519f},
+{-0.408692330121994f,0.243210107088089f,-0.013073918409645557f,0.5256465077400208f,-0.3921836316585541f,-0.3010461926460266f,-1.416528582572937f,0.21378983557224274f,0.48517918586730957f,-1.8187716007232666f,-0.5715388655662537f,-0.12979117035865784f,-1.0657424926757812f,-0.6168913245201111f,-0.037499845027923584f,0.7113023400306702f},
+{-0.2991822361946106f,0.13201937079429626f,0.045195113867521286f,-0.05932474136352539f,0.24825486540794373f,0.07833488285541534f,-0.0513191744685173f,0.34576353430747986f,0.21296781301498413f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.13522203266620636f,-0.2606737017631531f,0.36124154925346375f,-0.019244026392698288f},
+{-0.2675279378890991f,0.9919194579124451f,0.4967791736125946f,0.42134350538253784f,0.4525410234928131f,0.7671056985855103f,-19.65119171142578f,-0.35019630193710327f,0.0774022787809372f,-0.9777984023094177f,0.30070915818214417f,-0.7200683355331421f,0.4576717019081116f,-3.745297908782959f,0.08763853460550308f,-0.12950114905834198f},
+{-0.015470266342163086f,-0.663902759552002f,-0.26218274235725403f,-0.9686974287033081f,-1.2697144746780396f,-1.2993874549865723f,-0.368642657995224f,-0.11653367429971695f,0.2285005748271942f,0.8276209831237793f,-1.812983512878418f,-0.3129367232322693f,0.5683643817901611f,0.6947913765907288f,0.2220814824104309f,0.7217218279838562f},
+{0.1863725483417511f,1.1391031742095947f,-3.1924281120300293f,-0.17470817267894745f,0.32248324155807495f,-0.45596322417259216f,1.3157312870025635f,-0.0976204127073288f,-0.049222759902477264f,-0.3381028473377228f,-3.256610631942749f,-0.09532349556684494f,0.0486641451716423f,-0.03208383917808533f,0.4447547495365143f,0.9656800031661987f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.10733845829963684f,-0.13171051442623138f,-0.08234205096960068f,-0.10416366159915924f,0.1268671751022339f,-0.05339581519365311f,0.08802822232246399f,-0.051159054040908813f,0.00122738815844059f,0.030993694439530373f,0.08779297769069672f,-0.08789035677909851f,-0.08475720137357712f,0.11542049050331116f,-0.1343373954296112f };
-
-const float b1[16] = { 1.5671610832214355f,-0.6650322079658508f,-1.7145336866378784f,-0.13631387054920197f,0.809053897857666f,1.7169852256774902f,-0.058932315558195114f,2.673710584640503f,0.8016091585159302f,-0.2220122516155243f,-0.3671777844429016f,1.3159983158111572f,-0.9628874659538269f,-4.3406147956848145f,-1.087764859199524f,0.49714064598083496f };
-
-const float b2[16] = { 0.028378725051879883f,-1.541205883026123f,-1.4564176797866821f,-0.4409101605415344f,-0.6939148902893066f,-0.4014190435409546f,0.10122966021299362f,-0.5010198950767517f,-1.20063054561615f,-2.055778741836548f,1.1678540706634521f,-0.6804684996604919f,-0.415097177028656f,2.260073184967041f,1.3790706396102905f,1.498458743095398f };
-
-const float b3[16] = { -1.963319182395935f,-1.167460322380066f,-2.419935703277588f,1.7481459379196167f,-1.9929835796356201f,1.982991337776184f,-0.6213743686676025f,-1.0484195947647095f,-0.2641257643699646f,-0.0314469188451767f,-0.5554727911949158f,0.33601483702659607f,-2.5726656913757324f,-0.1076522171497345f,-3.430584192276001f,-1.4368791580200195f };
-
-const float bout[1] = { -0.10351773351430893f };
+const float hout[16] = { 0.45773375034332275f,0.12560291588306427f,-0.11175110936164856f,-0.1076873317360878f,-0.22688986361026764f,0.0996299684047699f,-0.1165262907743454f,-0.06413542479276657f,-0.08547917008399963f,-0.10551206022500992f,0.11794675886631012f,-0.051283299922943115f,-0.07513727247714996f,0.10889608412981033f,0.10124985873699188f,-0.09357111901044846f };
+
+const float b1[16] = { 0.2962568402290344f,1.0064163208007812f,-1.7145336866378784f,-0.5373859405517578f,0.8944404125213623f,0.48690545558929443f,-0.14995934069156647f,3.185513973236084f,0.3992059826850891f,-0.3432198166847229f,0.0617363266646862f,0.8845642805099487f,-1.8659136295318604f,-0.9155887365341187f,-1.087764859199524f,0.5785734057426453f };
+
+const float b2[16] = { -0.755774736404419f,-0.5792715549468994f,-1.5842629671096802f,-0.8578898310661316f,-0.6939148902893066f,-0.02991844341158867f,0.30195581912994385f,-0.6438045501708984f,-1.2855838537216187f,-2.1527836322784424f,0.730652928352356f,0.1157657578587532f,-0.3448236882686615f,2.148630142211914f,-0.6408219933509827f,0.5441248416900635f };
+
+const float b3[16] = { -1.963319182395935f,-1.9574757814407349f,2.004293918609619f,2.199665069580078f,-0.4670379161834717f,0.34952792525291443f,-3.200674295425415f,-1.0005841255187988f,0.7618258595466614f,2.12058162689209f,-0.7590987682342529f,-0.37147605419158936f,-0.6215092539787292f,-0.03694118186831474f,-1.5954755544662476f,1.2799572944641113f };
+
+const float bout[1] = { -0.17161530256271362f };
 
 
 float valve_ref_pos_buffer[10] = {0.0f};
@@ -1040,8 +1040,8 @@
             input_NN[ind] = torq.sen / 10000.0f * 8.0f + 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 * 8.0f + 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] - torq.sen)/10000.0f * 8.0f + 0.5f;
+                input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
                 ind = ind + 1;
             }
 
@@ -2831,8 +2831,6 @@
                 } else {
                     t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
                 }
-
-
                 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
             }