Diff: main.cpp

Revision:

131:d08121ac87ba

Parent:

130:26b416050376

Child:

132:06e670a4f416

--- a/main.cpp	Sat Sep 26 05:05:06 2020 +0000
+++ b/main.cpp	Sat Sep 26 11:42:48 2020 +0000
@@ -1,4 +1,4 @@
-//200926-1
+//200926-2
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -193,77 +193,77 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = { 
-   {-0.12182989716529846f,2.221353054046631f,0.12024858593940735f,0.4354116916656494f,-2.3567206859588623f,1.8097513914108276f,-0.1628284603357315f,1.4986122846603394f,-0.2669582664966583f,-0.05709208548069f,-0.18636499345302582f,-1.6840771436691284f,-0.513231635093689f,-1.915062427520752f,-0.2396446317434311f,-2.2250232696533203f},
-{-0.2779374420642853f,1.5987099409103394f,-0.36603355407714844f,0.0956038236618042f,-1.7120965719223022f,0.997468888759613f,-0.3777896761894226f,1.080893635749817f,-0.07522143423557281f,0.17555947601795197f,-0.22064058482646942f,-1.0924044847488403f,0.06327684223651886f,-1.762832760810852f,-0.1953967958688736f,-1.4012391567230225f},
-{-0.38499999046325684f,0.8614078760147095f,0.33912619948387146f,-0.2826979160308838f,-0.733977735042572f,0.500971257686615f,0.2676515281200409f,0.8713820576667786f,-0.15123562514781952f,0.17766016721725464f,-0.28950369358062744f,-0.6066434383392334f,-0.04636455699801445f,-0.6008403301239014f,0.05209478735923767f,-1.0019279718399048f},
-{-0.35798728466033936f,-0.21863551437854767f,0.3703531324863434f,0.2835245430469513f,0.17711977660655975f,-0.6015223264694214f,-0.10795548558235168f,0.529560387134552f,0.020014092326164246f,0.30070966482162476f,0.12415086477994919f,0.3314390778541565f,-0.0830964744091034f,0.14830511808395386f,-0.27597576379776f,0.06735101342201233f},
-{0.06172313541173935f,-1.237242341041565f,-0.004794687032699585f,0.19041308760643005f,1.3964132070541382f,-1.1583142280578613f,0.12058994174003601f,-0.9531877636909485f,0.025946516543626785f,0.12619879841804504f,0.35892507433891296f,0.8028461933135986f,0.12361433357000351f,1.4263123273849487f,-0.36018112301826477f,0.9215959906578064f},
-{0.22606275975704193f,-3.2881290912628174f,0.20290347933769226f,0.17196045815944672f,3.1350605487823486f,-2.3239424228668213f,0.15389427542686462f,-2.994882822036743f,0.028960349038243294f,0.1326519399881363f,-0.19604426622390747f,1.8547807931900024f,0.0607420988380909f,3.0301673412323f,-0.38513508439064026f,2.4519355297088623f},
-{-0.05471302941441536f,-0.13927961885929108f,-0.2331579178571701f,-0.4877077639102936f,0.04857823625206947f,0.07637504488229752f,0.05604562163352966f,-1.1008172035217285f,0.3373148441314697f,0.08177396655082703f,0.17199324071407318f,0.4120129644870758f,-0.18651099503040314f,0.44022879004478455f,-0.14554673433303833f,-0.05702235922217369f},
-{-0.09794020652770996f,-0.19437608122825623f,-0.24806702136993408f,0.007138259243220091f,-0.11198384314775467f,-0.21810296177864075f,-0.16704979538917542f,-0.6200839877128601f,0.0232830923050642f,0.12461837381124496f,0.12944452464580536f,-0.10263542830944061f,0.3231624960899353f,0.08507874608039856f,0.04009982943534851f,0.05464479327201843f},
-{0.046345073729753494f,0.22722281515598297f,0.09550115466117859f,-0.45129483938217163f,0.05583628639578819f,-0.1213897168636322f,-0.06753402948379517f,-0.8823345899581909f,-0.2530819773674011f,0.33996647596359253f,-0.24575380980968475f,0.40544357895851135f,0.19430536031723022f,0.28578296303749084f,-0.2847418785095215f,0.31536293029785156f},
-{-0.17795448005199432f,-0.10417773574590683f,0.17205187678337097f,-0.2257474660873413f,0.12445176392793655f,-0.09530888497829437f,-0.2786858379840851f,-0.3739033043384552f,-0.0081930598244071f,-0.42538633942604065f,0.023614276200532913f,-0.3271024227142334f,0.32906049489974976f,-0.2159736454486847f,0.3247623145580292f,0.07347992807626724f},
-{0.3099617063999176f,0.1635197550058365f,0.34649983048439026f,0.12721452116966248f,0.014378830790519714f,-0.3436509072780609f,-0.1895401030778885f,0.4087000787258148f,-0.3984310030937195f,0.03844223916530609f,0.35595467686653137f,-0.3425770103931427f,-0.07929984480142593f,0.13081155717372894f,0.24870619177818298f,-0.19473186135292053f},
-{-0.4037838280200958f,0.09216903895139694f,-0.3757385015487671f,-0.12670645117759705f,-0.31863683462142944f,-0.27778658270835876f,0.1429324448108673f,2.480994462966919f,-0.13990893959999084f,0.19980421662330627f,-0.3546866774559021f,-0.4859394133090973f,0.1240527480840683f,-0.16329260170459747f,0.09779238700866699f,-0.46118995547294617f},
-{-0.07417241483926773f,-0.07892967015504837f,0.18496140837669373f,0.056090641766786575f,-0.019435938447713852f,-0.1768210232257843f,-0.22405625879764557f,0.5386173129081726f,-0.15980978310108185f,-0.17520038783550262f,-0.07026616483926773f,-0.5884271860122681f,0.03217190504074097f,-0.160137340426445f,-0.2075144499540329f,-0.8128975033760071f},
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-{0.15869426727294922f,-0.14324089884757996f,0.18900898098945618f,-0.07287078350782394f,0.15836863219738007f,-0.3860887289047241f,0.03916636109352112f,-0.2958572208881378f,0.2992500066757202f,0.07474619895219803f,-0.22860640287399292f,-0.6856341361999512f,0.10164632648229599f,-0.04720206558704376f,0.062258750200271606f,0.21226944029331207f},
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-{0.2600356638431549f,0.21458324790000916f,0.1420871913433075f,-0.3263271450996399f,-0.24670645594596863f,0.049224719405174255f,-0.13263443112373352f,-0.22512350976467133f,-0.1460154503583908f,0.032834459096193314f,0.1323671042919159f,-0.0015913643874228f,0.18046998977661133f,0.45312124490737915f,0.13351169228553772f,0.27962666749954224f},
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+{-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},
 };
 
 const float h2[16][16] = { 
-    {0.01593797095119953f,-0.2186974138021469f,-0.06966331601142883f,0.09330300986766815f,-0.21907491981983185f,0.2961730659008026f,0.2356909215450287f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.06396285444498062f,-0.13160379230976105f,0.12968102097511292f,0.11333397030830383f,0.012054385617375374f,-0.2547522485256195f},
-{-5.047039031982422f,-3.258561372756958f,0.057057321071624756f,0.023287637159228325f,-0.35503754019737244f,-0.8371153473854065f,-0.6471047401428223f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-2.645380973815918f,-0.6350082755088806f,0.26203081011772156f,3.0874710083007812f,1.2446213960647583f,-0.8061211705207825f},
+    {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},
 {-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},
-{8.417389472015202e-05f,-0.2756640613079071f,-0.2894435524940491f,0.3098730742931366f,0.08946844935417175f,0.27668875455856323f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.22052377462387085f,0.36579251289367676f,-0.47994840145111084f,-0.20326107740402222f,0.23799023032188416f,0.15680553019046783f},
-{-5.5084919929504395f,1.163825511932373f,-0.25313520431518555f,0.20220205187797546f,0.036378175020217896f,1.2504905462265015f,-0.6020387411117554f,-0.1226220652461052f,-0.024399548768997192f,-0.39465832710266113f,-1.649137020111084f,-0.7098786234855652f,0.024170899763703346f,-2.9050283432006836f,-6.783666133880615f,-0.6142358779907227f},
-{0.8995647430419922f,-5.3716583251953125f,-0.3519742488861084f,0.3806166350841522f,-0.3015052080154419f,0.9998172521591187f,-0.49104005098342896f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-6.0289692878723145f,-0.16905593872070312f,-0.2811947762966156f,1.0108017921447754f,2.827463150024414f,-1.084883213043213f},
+{-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},
 {-0.1828227937221527f,-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},
-{-1.2125022411346436f,0.5322054028511047f,0.33083590865135193f,-0.32425156235694885f,-0.14358049631118774f,-1.58232843875885f,-0.3926704227924347f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.15107844769954681f,-0.32125550508499146f,-0.4109364151954651f,-1.215619683265686f,-0.425972580909729f,-1.3926022052764893f},
-{-0.21302255988121033f,0.32516300678253174f,-0.11379697918891907f,0.09248220920562744f,0.041274964809417725f,-0.379642128944397f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.03985416889190674f,-0.3197441101074219f,-0.37024784088134766f,-0.2730533182621002f,-0.3777207136154175f,-0.23599660396575928f},
-{-0.12738236784934998f,0.19213424623012543f,-0.13502129912376404f,0.06306179612874985f,0.12987366318702698f,0.0840228796005249f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.21002666652202606f,0.36861851811408997f,0.3811538517475128f,-0.20988516509532928f,0.04372647777199745f,-0.2692210078239441f},
-{-0.2709399461746216f,-0.01944989152252674f,0.0457797646522522f,-0.38263916969299316f,-0.03321319818496704f,-0.42289209365844727f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.2234542816877365f,0.3545852601528168f,-0.3647043704986572f,0.4324997067451477f,-0.3785899877548218f,-0.29750126600265503f},
-{0.46803537011146545f,1.7502378225326538f,0.3954955041408539f,0.2453233301639557f,0.0033026933670043945f,0.7026007175445557f,-0.46086356043815613f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-0.5335829257965088f,-0.2732049226760864f,0.006255126092582941f,-0.5452349781990051f,-5.779264450073242f,-0.07279927283525467f},
-{-0.23216933012008667f,-0.24672842025756836f,-0.15798500180244446f,0.2645776867866516f,-0.37393757700920105f,0.2157803475856781f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.17505694925785065f,-0.31370609998703003f,0.34264981746673584f,-0.061595190316438675f,-0.14707748591899872f,0.010401024483144283f},
-{-0.045435816049575806f,0.8936644792556763f,-0.2018718123435974f,-0.0211676936596632f,0.07545611262321472f,0.7817904353141785f,-0.4586344063282013f,-0.23897193372249603f,-0.24509364366531372f,0.19522181153297424f,-0.20323051512241364f,-0.6538867354393005f,-0.2416887730360031f,-1.0680028200149536f,-3.1567680835723877f,-1.0565061569213867f},
+{-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},
 {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},
-{0.6569719910621643f,0.23564831912517548f,0.12081471085548401f,-0.18247392773628235f,0.29976895451545715f,0.22178490459918976f,-0.34133481979370117f,0.22911937534809113f,-0.3893685042858124f,-0.02222958207130432f,0.036101263016462326f,-0.2503747344017029f,-0.27790436148643494f,-0.38270995020866394f,-1.3588670492172241f,-1.1501121520996094f},
+{-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},
 };
 
 const float h3[16][16] = { 
-    {-0.36079341173171997f,0.5216518640518188f,-0.4632366895675659f,-0.8537549376487732f,-0.4378504157066345f,1.0330435037612915f,0.3332441747188568f,0.15888263285160065f,-0.2405819296836853f,-0.097571462392807f,-0.11870327591896057f,0.19274313747882843f,-1.02626633644104f,-0.42944228649139404f,0.5035778880119324f,0.095431387424469f},
-{0.047732532024383545f,-7.194621562957764f,-3.8187716007232666f,-0.3448820412158966f,1.5982129573822021f,0.981914222240448f,-0.3198729455471039f,-0.1315370351076126f,-0.0010362062603235245f,-0.5273236632347107f,0.25634047389030457f,-0.5061454772949219f,-0.922555148601532f,1.4388750791549683f,3.035747528076172f,-0.401466965675354f},
+    {-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},
 {0.07903262972831726f,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,-0.15206660330295563f,0.28855326771736145f,-0.37030017375946045f,-0.23699188232421875f,0.12234070897102356f,0.20021501183509827f,0.07002416253089905f,-0.2626284062862396f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.06581463664770126f,0.0989072397351265f,0.1489541232585907f,-0.035788457840681076f},
+{-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},
 {-0.39607733488082886f,-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,0.5182434916496277f,-1.6763780117034912f,0.06453466415405273f,-0.8782760500907898f,0.7896761894226074f,-0.18732719123363495f,-0.012386349029839039f,-0.8606014251708984f,-0.5877534747123718f,-0.2471717745065689f,-0.03829113021492958f,-1.2452481985092163f,1.045908808708191f,-0.9680290222167969f,-0.7549893856048584f},
-{0.4110594093799591f,0.04498498514294624f,-0.18588821589946747f,0.37246426939964294f,0.2456347942352295f,-0.1644390970468521f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.3426767885684967f,0.03686736896634102f,0.11634426563978195f,-0.3391006588935852f},
-{-0.40892091393470764f,0.03899974003434181f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.043259888887405396f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
+{-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},
 {0.10697010159492493f,-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,-2.2264668941497803f,1.7779706716537476f,-0.23943114280700684f,-0.8894124627113342f,0.45528969168663025f,-0.08742031455039978f,-0.2107928842306137f,-0.2732345461845398f,-0.4397951662540436f,-0.030451297760009766f,-0.2083035260438919f,-0.1906256526708603f,-1.143990397453308f,-6.412671089172363f,0.4066591262817383f},
-{-0.408692330121994f,-0.07648971676826477f,0.1375642567873001f,0.0922636091709137f,0.05661764368414879f,-0.2609746754169464f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.47522181272506714f,-0.2982800602912903f,-0.2822875380516052f,0.31534942984580994f},
-{-0.2991822361946106f,0.2665712535381317f,0.03595448657870293f,-0.05932474136352539f,0.2013506293296814f,0.12878179550170898f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.13154767453670502f,-0.25108328461647034f,0.2462342530488968f,-0.16869547963142395f},
-{-0.2675279378890991f,0.8327831625938416f,-0.6886727213859558f,-0.33319616317749023f,1.9532185792922974f,1.7705063819885254f,-0.32875844836235046f,-0.31893211603164673f,-0.7750582098960876f,-0.7931579351425171f,-0.525723397731781f,-0.6890509724617004f,0.17588216066360474f,-2.309390068054199f,-7.775079250335693f,0.13488708436489105f},
-{-0.015470266342163086f,-2.580214262008667f,-0.0014129156479611993f,0.09905598312616348f,-4.055988311767578f,-2.5223324298858643f,0.05196094512939453f,-0.008358269929885864f,-0.4298419654369354f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,-0.0700351819396019f,3.8531534671783447f,-1.3709696531295776f,-0.5011728405952454f},
-{0.1863725483417511f,0.14156880974769592f,0.504177451133728f,-0.4693242609500885f,-0.8702148795127869f,-0.1965547800064087f,0.04860696196556091f,0.17769548296928406f,-0.26019105315208435f,0.18721547722816467f,-0.5497850775718689f,0.205839604139328f,0.08021201193332672f,-3.593846559524536f,0.7572398781776428f,-0.1898135244846344f},
+{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},
 };
 
-const float hout[16] = { 0.45773375034332275f,-0.03770264983177185f,-0.2646281123161316f,-0.15070663392543793f,-0.37015247344970703f,0.31950634717941284f,0.0030125975608825684f,0.0031925395596772432f,-0.0613388866186142f,0.06559190899133682f,0.09582822769880295f,-0.01019347459077835f,-0.5223144292831421f,0.2610134482383728f,-0.4693235456943512f,-0.247190922498703f };
+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 b1[16] = { 0.6155483722686768f,0.8454515933990479f,-1.7145336866378784f,0.2860422134399414f,1.1108174324035645f,0.3375370502471924f,-0.058932315558195114f,0.8904058933258057f,0.5296837687492371f,-0.9001668691635132f,0.6061018109321594f,1.4861056804656982f,-0.44715896248817444f,-0.7951885461807251f,-1.087764859199524f,0.8709469437599182f };
+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 b2[16] = { 1.1198582649230957f,-0.41686129570007324f,-1.4564176797866821f,-0.550015389919281f,-0.6939148902893066f,0.6334903240203857f,0.09791486710309982f,-0.38224899768829346f,-1.20063054561615f,-1.912178635597229f,1.1038284301757812f,0.3013090193271637f,-0.15492071211338043f,1.302016019821167f,1.1267443895339966f,0.43102139234542847f };
+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 b3[16] = { -1.963319182395935f,-1.6634854078292847f,1.1635469198226929f,-0.41498520970344543f,0.7987946271896362f,-0.1583007127046585f,-0.45353031158447266f,-0.9426565170288086f,-0.027880089357495308f,-0.040707413107156754f,-0.3015240430831909f,-0.2201703041791916f,-0.8306565284729004f,-0.08965948969125748f,1.0660717487335205f,-0.526371419429779f };
+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 bout[1] = { -0.31019195914268494f };
+const float bout[1] = { -0.2638187110424042f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;
@@ -1863,13 +1863,13 @@
             }
 
 
-            if (flag_data_request[2] == HIGH) {
+            if (flag_data_request[2] == LOW) {
                 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
                 double t_value = 0;
                 if(valve_pos.ref>=(float) VALVE_CENTER) {
-                    t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
+                    t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
                 } else {
-                    t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
+                    t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
                 }
                 CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
             }