Diff: main.cpp

Revision:

97:d71c57e3515e

Parent:

96:71a161975a4e

Child:

98:cd1b2da4704f

--- a/main.cpp	Fri Aug 07 10:58:57 2020 +0000
+++ b/main.cpp	Wed Aug 12 00:14:21 2020 +0000
@@ -1,4 +1,4 @@
-//200807-2
+//200812-1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -193,77 +193,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = { 
-   {0.07895362377166748f,1.2571723461151123f,0.12024858593940735f,0.42333588004112244f,-0.591122031211853f,-0.2686001658439636f,-0.1628284603357315f,-0.2747933566570282f,-0.2676565945148468f,-0.06314806640148163f,-0.21420136094093323f,-1.264796257019043f,0.028087222948670387f,0.1368914246559143f,-0.2396446317434311f,-1.8550697565078735f},
-{-0.13911567628383636f,1.1758989095687866f,-0.36603355407714844f,0.12989778816699982f,-0.6587437987327576f,-0.2900908291339874f,-0.3777896761894226f,-0.2802232503890991f,-0.07578769326210022f,0.1696045696735382f,-0.2483919858932495f,-0.9388790726661682f,0.3681949973106384f,-0.38263583183288574f,-0.1953967958688736f,-1.4171580076217651f},
-{-0.22104200720787048f,0.9880240559577942f,0.33912619948387146f,-0.19806833565235138f,-0.2689543068408966f,-0.19075830280780792f,0.2676515281200409f,-0.12974651157855988f,-0.15164244174957275f,0.17187564074993134f,-0.31710654497146606f,-0.6481630802154541f,0.02745453082025051f,0.044705502688884735f,0.05209478735923767f,-1.5039880275726318f},
-{-0.40742605924606323f,0.7225562930107117f,0.3703531324863434f,0.42338240146636963f,-0.3839448392391205f,-0.32325175404548645f,-0.10795548558235168f,0.313069611787796f,0.01977788284420967f,0.2951240539550781f,0.0966201201081276f,0.02345994859933853f,-0.2756105363368988f,-0.06283733993768692f,-0.27597576379776f,-1.0504233837127686f},
-{-0.3754335939884186f,0.9327686429023743f,-0.004794687032699585f,0.3824700713157654f,-0.8204431533813477f,0.4471132457256317f,0.12058994174003601f,0.3895314335823059f,0.025840381160378456f,0.12077726423740387f,0.3315052390098572f,-0.07942713052034378f,-0.3569679856300354f,0.04906800016760826f,-0.36018112301826477f,-1.1626139879226685f},
-{-0.5914078950881958f,0.4770364761352539f,0.20290347933769226f,0.4014465808868408f,-1.0489305257797241f,0.630003809928894f,0.15389427542686462f,0.49035078287124634f,0.029029453173279762f,0.12740647792816162f,-0.22336235642433167f,0.31648266315460205f,-0.674343466758728f,0.1843278408050537f,-0.38513508439064026f,-1.03097665309906f},
-{-1.0379849672317505f,0.6660510897636414f,-0.2331579178571701f,-0.3693968951702118f,-1.6700252294540405f,1.1136983633041382f,0.05604562163352966f,0.48791247606277466f,0.33870938420295715f,0.08067858964204788f,0.14737729728221893f,0.7881587743759155f,-0.6168327927589417f,0.25015661120414734f,-0.14554673433303833f,-0.6819286942481995f},
-{-1.1772695779800415f,0.250567764043808f,-0.24806702136993408f,0.0845661461353302f,-1.7072104215621948f,0.8260706067085266f,-0.16704979538917542f,0.4817795157432556f,0.024997428059577942f,0.12397594749927521f,0.10480736196041107f,0.6280339956283569f,-0.034352805465459824f,0.08143091946840286f,0.04009982943534851f,-0.26129135489463806f},
-{-0.8673149347305298f,0.23955625295639038f,0.09550115466117859f,-0.43480008840560913f,-1.5310064554214478f,1.057142734527588f,-0.06753402948379517f,0.3709453344345093f,-0.25099891424179077f,0.33987900614738464f,-0.2704286277294159f,0.6828672289848328f,0.08345116674900055f,0.23340700566768646f,-0.2847418785095215f,0.17356525361537933f},
-{0.35617488622665405f,-1.9094693660736084f,0.17205187678337097f,-0.3130404055118561f,0.090705007314682f,0.030807994306087494f,-0.2786858379840851f,-0.25279197096824646f,-0.005850229412317276f,-0.4249269366264343f,-0.0010674830991774797f,-1.0976002216339111f,0.7836102843284607f,-0.06491421908140182f,0.3247623145580292f,0.6052957773208618f},
-{4.625219345092773f,-5.048667907714844f,0.34649983048439026f,-0.10459014028310776f,4.077295303344727f,-3.844470977783203f,-0.1895401030778885f,-2.924015998840332f,-0.39584577083587646f,0.03952033445239067f,0.33136940002441406f,-2.319406270980835f,1.3264329433441162f,0.2984660565853119f,0.24870619177818298f,1.0718899965286255f},
-{-0.10326675325632095f,-0.23447513580322266f,-0.3757385015487671f,-0.19414059817790985f,0.3747856318950653f,-0.04199318587779999f,0.1429324448108673f,0.21323536336421967f,-0.1358439326286316f,0.19925807416439056f,-0.3862822949886322f,0.6506202816963196f,-0.008901792578399181f,-0.07645197957754135f,0.09779238700866699f,0.4917536675930023f},
-{0.8808187246322632f,-0.5376348495483398f,0.18496140837669373f,-0.21074695885181427f,1.7403404712677002f,-0.1949584186077118f,-0.22405625879764557f,-0.3333626985549927f,-0.15510694682598114f,-0.17791599035263062f,-0.08919984847307205f,1.3710670471191406f,0.2588014602661133f,0.057229183614254f,-0.2075144499540329f,2.715280294418335f},
-{1.058735728263855f,-0.01810188591480255f,0.38466766476631165f,-0.4001809358596802f,1.2133023738861084f,-0.8784891366958618f,-0.2982172966003418f,-1.040549635887146f,-0.10522206872701645f,-0.21052785217761993f,-0.16740652918815613f,1.5507609844207764f,-0.10103185474872589f,0.01610000990331173f,0.04470124840736389f,1.9343880414962769f},
-{0.8488929271697998f,0.1011870726943016f,0.18900898098945618f,-0.12932294607162476f,1.1423720121383667f,-0.22526150941848755f,0.03916636109352112f,-0.15241949260234833f,0.3039378821849823f,0.07273339480161667f,-0.24044525623321533f,-0.17205055058002472f,0.038534365594387054f,-0.08114524930715561f,0.062258750200271606f,1.2987041473388672f},
-{0.7183128595352173f,-0.20562709867954254f,-0.37685394287109375f,-0.2245279848575592f,0.6779199242591858f,0.017318520694971085f,-0.14507901668548584f,-0.4317210018634796f,0.20885272324085236f,-0.014226306229829788f,-0.4203896224498749f,-1.7637933492660522f,-0.2738562822341919f,-0.06148799881339073f,-0.07684260606765747f,0.9578304886817932f},
-{0.5478618144989014f,0.28276193141937256f,0.15568438172340393f,-0.04252927005290985f,0.80033940076828f,-0.1760183572769165f,-0.03859376907348633f,-0.4843308925628662f,-0.0378759540617466f,0.06837508827447891f,-0.30781814455986023f,-1.2781144380569458f,0.11884292215108871f,0.2787895202636719f,0.2742314636707306f,0.1477077305316925f},
-{0.20798827707767487f,0.18542402982711792f,0.19490453600883484f,-0.24922969937324524f,0.5577678084373474f,-0.3426334857940674f,-0.336474746465683f,-0.6756728887557983f,-0.3583759665489197f,-0.12768687307834625f,-0.13331158459186554f,0.10043817013502121f,0.34091103076934814f,-0.18570837378501892f,-0.2561379373073578f,-0.6417683959007263f},
-{-0.6675909161567688f,-0.14185404777526855f,-0.2776013910770416f,0.19791850447654724f,0.9802903532981873f,-0.19628511369228363f,0.25546005368232727f,-0.8709930777549744f,-0.35415831208229065f,0.013175017200410366f,-0.37139979004859924f,0.6119925379753113f,0.07870321720838547f,0.0666419044137001f,-0.30415377020835876f,-1.2829549312591553f},
-{-0.11985787749290466f,-0.03708590939640999f,0.1420871913433075f,-0.239470437169075f,0.4696210026741028f,-0.06513650715351105f,-0.13263443112373352f,-0.9008736610412598f,-0.14152871072292328f,0.0298761036247015f,0.12406090646982193f,0.2007264792919159f,0.24001146852970123f,0.21043716371059418f,0.13351169228553772f,-0.38647904992103577f},
-{-0.6493774652481079f,-0.15536324679851532f,-0.07561364769935608f,0.1692466139793396f,0.3786194324493408f,-0.4081724286079407f,0.14428457617759705f,-0.5168352127075195f,-0.3387826681137085f,-0.3022443950176239f,-0.3599952757358551f,-0.27454251050949097f,-0.2086472362279892f,0.2353324294090271f,0.019461065530776978f,-0.058617979288101196f},
-{-1.0564547777175903f,0.05542854964733124f,0.2631795108318329f,-0.4106685519218445f,0.43132689595222473f,-0.553520679473877f,0.27224990725517273f,-0.6160730123519897f,-0.04732394590973854f,0.08227474242448807f,0.05995349958539009f,0.03140683099627495f,-0.009248102083802223f,-0.11794007569551468f,0.06011766195297241f,-0.6932176947593689f},
+   {-0.8097203969955444f,0.4414135217666626f,0.12903714179992676f,0.11036134511232376f,-0.9600693583488464f,3.1494152545928955f,-0.17472904920578003f,0.586768627166748f,-4.449813365936279f,-0.8258424997329712f,-0.23096854984760284f,-2.9395718574523926f,-0.26403480768203735f,-2.074904680252075f,-0.2571594715118408f,2.6023237705230713f},
+{-0.8093165159225464f,0.658986508846283f,-0.3927857577800751f,-0.15765640139579773f,-1.0536823272705078f,1.850258469581604f,-0.4054011106491089f,0.6027240753173828f,-2.507427930831909f,-0.37478989362716675f,-0.26731759309768677f,-1.3369394540786743f,0.23577988147735596f,-1.7169277667999268f,-0.20967772603034973f,0.9031592011451721f},
+{-0.8143073916435242f,0.8226664662361145f,0.36391180753707886f,-0.460040420293808f,-0.9197589755058289f,0.7947497367858887f,0.2872133255004883f,0.8109666705131531f,-0.11829791218042374f,-0.17228920757770538f,-0.3408655822277069f,0.22128674387931824f,-0.0022603936959058046f,-0.16905049979686737f,0.05590221285820007f,-0.6246200799942017f},
+{-0.9938223361968994f,1.0098074674606323f,0.39742106199264526f,0.25526055693626404f,-1.3803852796554565f,-0.5356543660163879f,-0.11584559082984924f,1.2068217992782593f,2.5912516117095947f,0.16104958951473236f,0.10329903662204742f,1.3646738529205322f,-0.16418832540512085f,0.5301267504692078f,-0.2961459457874298f,-1.1432890892028809f},
+{0.09868474304676056f,0.6722683310508728f,-0.0051451027393341064f,0.27669477462768555f,-0.9302022457122803f,-1.3165873289108276f,0.1294034719467163f,0.17281584441661835f,3.452556610107422f,0.3410228192806244f,0.35563355684280396f,1.1116588115692139f,-0.06756797432899475f,1.3585044145584106f,-0.3865056037902832f,-1.493058204650879f},
+{4.0763983726501465f,-3.817742347717285f,0.21773302555084229f,0.4135795533657074f,3.3691959381103516f,-3.444652557373047f,0.16514194011688232f,-3.606274127960205f,0.33385977149009705f,1.1241480112075806f,-0.23945419490337372f,1.7422852516174316f,-0.2640157639980316f,2.7652909755706787f,-0.4132833778858185f,0.7563164234161377f},
+{-0.2336282730102539f,0.5288040041923523f,-0.2501986622810364f,-0.6430939435958862f,0.7025597095489502f,0.5459174513816833f,0.06014183163642883f,-0.2603897750377655f,-0.001964108319953084f,-0.07970346510410309f,0.15401500463485718f,0.9357159733772278f,-0.17204509675502777f,1.0304431915283203f,-0.15618428587913513f,-2.5391180515289307f},
+{-0.9050356149673462f,0.05340365320444107f,-0.26619744300842285f,-0.044719185680150986f,-0.6887577772140503f,1.5033495426177979f,-0.17925891280174255f,-1.420706868171692f,4.436413764953613f,0.19631661474704742f,0.1091700941324234f,-2.1720457077026367f,0.37308573722839355f,0.13548801839351654f,0.04303058981895447f,4.711082458496094f},
+{0.43784111738204956f,-0.6006630659103394f,0.10248100757598877f,-0.4403073787689209f,0.5609986782073975f,1.037424921989441f,-0.07246989011764526f,-1.3788509368896484f,-0.06339003145694733f,0.6676791906356812f,-0.29292768239974976f,-1.8985565900802612f,0.23086795210838318f,0.4877270758152008f,-0.30555272102355957f,4.045020580291748f},
+{-0.036838334053754807f,-0.5635775923728943f,0.18462657928466797f,-0.17717698216438293f,0.36153092980384827f,0.3406716287136078f,-0.2990540862083435f,0.1106804832816124f,-1.8224303722381592f,-0.282331258058548f,-0.0037344631273299456f,-2.1794273853302f,0.3740088939666748f,0.23098443448543549f,0.3484981060028076f,-2.1184303760528564f},
+{0.23072007298469543f,0.11643347144126892f,0.37182438373565674f,0.1489139199256897f,-0.1252019852399826f,-1.325034260749817f,-0.20339298248291016f,-0.09470587968826294f,-1.027321219444275f,0.12314741313457489f,0.3525862991809845f,-3.1166610717773438f,-0.06504320353269577f,1.6114453077316284f,0.26688337326049805f,-4.138108253479004f},
+{-0.2673735022544861f,-0.2903279960155487f,-0.40320003032684326f,-0.1255786418914795f,0.07108580321073532f,-2.1071906089782715f,0.1533789038658142f,0.29359644651412964f,-0.5852934718132019f,0.38707610964775085f,-0.41015690565109253f,-1.5804376602172852f,0.14605700969696045f,1.2968003749847412f,0.10493969917297363f,-1.5323810577392578f},
+{0.15047627687454224f,-0.12190425395965576f,0.19847965240478516f,0.07482684403657913f,0.23196566104888916f,-2.0102710723876953f,-0.2404318004846573f,0.17862457036972046f,0.3626876473426819f,-0.04647992551326752f,-0.1046956330537796f,-0.07697045803070068f,0.09354410320520401f,0.6696446537971497f,-0.22268100082874298f,0.13430683314800262f},
+{-0.004485058132559061f,-0.08152496814727783f,0.4127817749977112f,-0.11922062933444977f,-0.37754273414611816f,-1.6171168088912964f,-0.32001304626464844f,-0.14244554936885834f,-0.25989097356796265f,-0.17456310987472534f,-0.1899278461933136f,0.9842401146888733f,-0.3109734058380127f,-0.3267957270145416f,0.0479682981967926f,-0.6410547494888306f},
+{-0.049159497022628784f,-0.018137486651539803f,0.20282304286956787f,0.024114999920129776f,0.02577952854335308f,-0.3361547589302063f,0.04202890396118164f,0.05665987730026245f,0.06006404757499695f,0.06607701629400253f,-0.27408432960510254f,-0.5515044331550598f,0.10555920749902725f,-0.4352801442146301f,0.0668090283870697f,-0.48965951800346375f},
+{-0.1248687356710434f,-0.41963282227516174f,-0.40439701080322266f,-0.15743118524551392f,-0.31818413734436035f,0.3693816363811493f,-0.15568238496780396f,-0.030827471986413002f,-0.5186337232589722f,-0.022161586210131645f,-0.46884721517562866f,0.49413880705833435f,-0.26890143752098083f,-0.12830734252929688f,-0.08245879411697388f,-0.6198499202728271f},
+{-0.13647101819515228f,-0.36818772554397583f,0.16706281900405884f,0.02115493081510067f,-0.14659161865711212f,0.11085072159767151f,-0.041414469480514526f,0.22333866357803345f,-0.35389265418052673f,-0.027265382930636406f,-0.3487294316291809f,2.7009499073028564f,0.11436564475297928f,0.3761715888977051f,0.29427415132522583f,0.5870246887207031f},
 };
 
 const float h2[16][16] = { 
-    {0.3461630344390869f,0.2955578863620758f,-0.1592242419719696f,-0.5184082984924316f,-0.363492488861084f,-1.3597091436386108f,-0.09148727357387543f,-0.03959078714251518f,-0.43008196353912354f,-0.1415480375289917f,-1.9697908163070679f,-0.731515109539032f,-0.702545166015625f,-3.3870911598205566f,-1.0854758024215698f,-2.500134229660034f},
-{-0.25313666462898254f,-6.206562042236328f,0.027056142687797546f,-0.0741184800863266f,-0.35503754019737244f,-1.231136441230774f,-1.3051835298538208f,-0.18019266426563263f,-0.33757925033569336f,0.2895788848400116f,-2.0206592082977295f,-0.7872334718704224f,-0.24186758697032928f,0.854408323764801f,0.8058996200561523f,-3.2585866451263428f},
+    {-1.3626923561096191f,3.559429168701172f,-0.06966331601142883f,1.0679280757904053f,-0.21907491981983185f,2.1128387451171875f,-0.015646522864699364f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.6165129542350769f,4.014952659606934f,0.0362207293510437f,-1.483006238937378f,0.02117646113038063f,-0.4814707934856415f},
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 {-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},
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 };
 
 const float h3[16][16] = { 
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 {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,-0.23069538176059723f,0.08775654435157776f,-0.2917158007621765f,-0.3173016309738159f,0.02197491005063057f,-0.08742031455039978f,0.05785742402076721f,-0.11268945038318634f,-0.38534465432167053f,-0.4680977165699005f,-0.30447322130203247f,0.5930958986282349f,-0.6832190155982971f,0.24897915124893188f,0.6311358213424683f},
-{-0.408692330121994f,-0.03322610631585121f,0.13804031908512115f,-0.25812235474586487f,0.03562499210238457f,-0.12812207639217377f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,0.08593464642763138f,-0.0742669403553009f,0.03996849060058594f,-0.48888295888900757f,-0.25224313139915466f,-0.3349078893661499f,-0.061293311417102814f},
-{-0.2991822361946106f,1.914184331893921f,-0.7486281991004944f,-0.05932474136352539f,-1.4416754245758057f,1.7874364852905273f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,-0.9489266872406006f,1.4211689233779907f,0.26106709241867065f,-0.6619238257408142f},
-{-0.2675279378890991f,0.09690668433904648f,-0.14166909456253052f,0.8521427512168884f,0.023709528148174286f,0.49329280853271484f,-0.4077804982662201f,-0.31893211603164673f,-0.8029664754867554f,0.22857439517974854f,-0.14455583691596985f,-0.6750549077987671f,0.20448069274425507f,-0.9385330677032471f,0.14485150575637817f,0.7857609987258911f},
-{-0.015470266342163086f,-2.7017996311187744f,-0.07821664214134216f,-0.008211692795157433f,-0.4154634475708008f,-4.004563331604004f,0.031177446246147156f,-0.008358269929885864f,-0.5120755434036255f,-3.891390800476074f,0.3499956727027893f,-0.3125930726528168f,-2.171631336212158f,-2.0324933528900146f,-0.31805527210235596f,0.15008483827114105f},
-{0.1863725483417511f,0.33734530210494995f,-0.13039013743400574f,0.012665561400353909f,-0.6362693905830383f,-0.595176100730896f,0.04860696196556091f,0.17769548296928406f,-0.10992996394634247f,0.04870879650115967f,-0.018923843279480934f,0.0762123391032219f,-0.19637686014175415f,0.37821123003959656f,-0.023800775408744812f,0.6714404821395874f},
+{0.15459725260734558f,0.6822951436042786f,-1.8076457977294922f,-0.2658248543739319f,-0.9337107539176941f,0.09819532930850983f,-0.7815399169921875f,-0.09437912702560425f,-0.18962785601615906f,-0.3308940529823303f,-0.03042592853307724f,-0.46041011810302734f,-0.16326282918453217f,-0.27264106273651123f,0.5295608639717102f,-0.25163358449935913f},
+{-0.408692330121994f,-0.5686866641044617f,2.757739543914795f,0.0922636091709137f,-5.595403671264648f,1.967482328414917f,-0.36892542243003845f,0.23923462629318237f,-0.20705322921276093f,-0.31117701530456543f,0.12809070944786072f,0.03996849060058594f,-0.6075212955474854f,1.0410428047180176f,-2.5736641883850098f,-0.6091660261154175f},
+{-0.2991822361946106f,0.16860590875148773f,0.09138333052396774f,-0.05932474136352539f,0.2541872262954712f,0.07005511224269867f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.1786714345216751f,-0.30694013833999634f,0.17156483232975006f,-0.07854658365249634f},
+{-0.2675279378890991f,0.10311675071716309f,-1.3622825145721436f,-0.1150468960404396f,0.7050028443336487f,0.11019168794155121f,-0.13633859157562256f,-0.31893211603164673f,-0.5661224126815796f,-0.5721097588539124f,-0.5263854265213013f,-0.5656268000602722f,0.11899291723966599f,-0.8062530755996704f,0.9719531536102295f,0.7021549940109253f},
+{-0.015470266342163086f,-0.2546629309654236f,1.6631083488464355f,0.27566051483154297f,0.04447168856859207f,0.6073436141014099f,-0.14271573722362518f,-0.13423189520835876f,-0.5589900016784668f,-0.5349217057228088f,-0.025492876768112183f,-0.2609069049358368f,-0.007030019536614418f,-0.058869343250989914f,-0.9019383788108826f,0.6670117378234863f},
+{0.1863725483417511f,-0.1447485387325287f,0.06327609717845917f,-0.4664100110530853f,0.47049859166145325f,-0.02930854819715023f,0.04860696196556091f,0.17769548296928406f,-0.027388401329517365f,0.3378079831600189f,-0.3929237127304077f,0.19592127203941345f,0.41537413001060486f,0.02166307158768177f,-0.37968552112579346f,-0.008256490342319012f},
 };
 
-const float hout[16] = { 0.45773375034332275f,1.626427412033081f,-0.0007661097915843129f,-0.1185910776257515f,0.1819382607936859f,1.224741816520691f,-0.031148770824074745f,0.15066689252853394f,-0.0013686571037396789f,-1.086798071861267f,0.11216173321008682f,-0.07703599333763123f,0.8368552923202515f,1.348039984703064f,0.607914388179779f,-0.23062551021575928f };
+const float hout[16] = { 0.45773375034332275f,0.12986235320568085f,-0.12958075106143951f,-0.21291053295135498f,-0.14550718665122986f,0.14889225363731384f,0.050249096006155014f,0.09596521407365799f,-0.13369672000408173f,0.08056697994470596f,0.08866558969020844f,-0.15259654819965363f,0.05658946931362152f,0.19029897451400757f,0.16101594269275665f,-0.19369226694107056f };
 
-const float b1[16] = { -0.8491401076316833f,0.6166018843650818f,-1.7145336866378784f,0.17909984290599823f,0.6702242493629456f,2.827991247177124f,-0.058932315558195114f,2.4158542156219482f,0.5341209769248962f,-0.9037277698516846f,0.5854750275611877f,3.7358274459838867f,-0.9816521406173706f,-1.0510812997817993f,-1.087764859199524f,5.495018005371094f };
+const float b1[16] = { 0.30674707889556885f,1.3229871988296509f,-1.7145336866378784f,0.2537260949611664f,1.5967637300491333f,1.6245051622390747f,-0.058932315558195114f,1.5004398822784424f,0.6193894743919373f,-0.8404539823532104f,0.5756582617759705f,3.545907735824585f,-0.36973118782043457f,-2.3032939434051514f,-1.087764859199524f,1.1168707609176636f };
 
-const float b2[16] = { -0.038619738072156906f,1.1267496347427368f,-1.5400499105453491f,-0.8048892617225647f,-0.8344771862030029f,-0.10959481447935104f,-0.0300869382917881f,-0.4458284378051758f,-1.20063054561615f,-1.912178635597229f,-0.5470861792564392f,-0.008792918175458908f,-0.24588672816753387f,1.4592666625976562f,0.3058423697948456f,0.29415765404701233f };
+const float b2[16] = { 0.40804532170295715f,-1.116403341293335f,-1.4564176797866821f,-1.4208685159683228f,-0.6939148902893066f,0.159179225564003f,0.14267557859420776f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.8783766031265259f,0.2903093695640564f,-0.14494526386260986f,1.4648785591125488f,-0.7252910733222961f,0.5480677485466003f };
 
-const float b3[16] = { -1.963319182395935f,-0.12471651285886765f,-0.5443709492683411f,-1.0403056144714355f,-0.037965964525938034f,2.1356041431427f,-0.550602912902832f,-0.6562485098838806f,-0.038771145045757294f,1.5697951316833496f,-0.4680158197879791f,-0.2508927583694458f,-0.38630208373069763f,0.7918863892555237f,-1.413399577140808f,-0.18884111940860748f };
+const float b3[16] = { -1.963319182395935f,0.05484238639473915f,-0.11087591201066971f,-0.22759604454040527f,-1.4023056030273438f,0.5291256904602051f,-0.7528672814369202f,-0.8049214482307434f,0.34808605909347534f,0.410354882478714f,-0.301833838224411f,-0.10627538710832596f,-0.7780864834785461f,-0.1581760197877884f,0.2737984359264374f,0.3170960247516632f };
 
-const float bout[1] = { 0.5050068497657776f };
+const float bout[1] = { -0.2603877782821655f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;
@@ -1807,23 +1802,23 @@
             if (flag_data_request[1] == HIGH) {
                 //valve position
                 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);
+                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);
+                } else {
+                    t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
+                }
+//                if(OPERATING_MODE==5) {
+//                    if(valve_pos.ref>=(float) VALVE_CENTER) {
+//                        t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
+//                    } else {
+//                        t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
+//                    }
+                    //t_value = (double) value;
+//                } else if(CURRENT_CONTROL_MODE==1) {
+//                    t_value = cur.sen * 1000.0f;
 //                } else {
-//                    t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
+//                    t_value = V_out;
 //                }
-                if(OPERATING_MODE==5) {
-                    if(valve_pos.ref>=(float) VALVE_CENTER) {
-                        t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
-                    } else {
-                        t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
-                    }
-                    //t_value = (double) value;
-                } else if(CURRENT_CONTROL_MODE==1) {
-                    t_value = cur.sen * 1000.0f;
-                } else {
-                    t_value = V_out;
-                }
                 CAN_TX_TORQUE((int16_t) (t_value)); //1300
                 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
                 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300