Diff: main.cpp

Revision:

199:ee79b4692e3b

Parent:

198:bc4dfecb8e32

--- a/main.cpp	Sun Dec 20 03:03:08 2020 +0000
+++ b/main.cpp	Sun Dec 20 03:25:36 2020 +0000
@@ -1,4 +1,4 @@
-//201220_1_with_delay
+//201220_2_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] = {
-    {-2.492051839828491f,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},
+    {-2.1837844848632812f,2.0101635456085205f,0.04588095843791962f,-0.5758384466171265f,-2.3859260082244873f,2.2956244945526123f,1.8129379749298096f,1.5355861186981201f,-0.22093690931797028f,-2.2866008281707764f,0.8032577037811279f,-2.308483362197876f,-2.022364616394043f,-1.44899320602417f,-0.2571594715118408f,2.1746459007263184f},
+{-1.2958452701568604f,1.0988526344299316f,-0.47577235102653503f,-0.19999195635318756f,-1.253292202949524f,1.2035913467407227f,0.16407740116119385f,-0.06658501923084259f,-0.47375917434692383f,-1.3384493589401245f,-0.3297125995159149f,-1.3080674409866333f,-0.06550247967243195f,-1.1850271224975586f,-0.20967772603034973f,1.4772138595581055f},
+{-0.9654735326766968f,0.7904215455055237f,0.2810189127922058f,-0.8030968308448792f,-0.6013320088386536f,0.9044144153594971f,0.38279950618743896f,-0.35799551010131836f,-0.4297952651977539f,-0.605270266532898f,-0.19510450959205627f,-0.9962825775146484f,0.22925516963005066f,-0.08333431929349899f,0.05590221285820007f,0.581075131893158f},
+{-0.38367339968681335f,0.14867372810840607f,0.3145712614059448f,-0.5230110287666321f,-0.14263394474983215f,-0.11347147822380066f,-0.11111853271722794f,0.1234128400683403f,0.2909422218799591f,0.46737194061279297f,0.8569537997245789f,-0.06507605314254761f,0.14980092644691467f,0.3622553050518036f,-0.2961459457874298f,0.11472762376070023f},
+{1.2189306020736694f,-0.7193593978881836f,-0.08788592368364334f,-0.07936348766088486f,0.9448050260543823f,-1.0137641429901123f,-0.27093255519866943f,-0.020022014155983925f,0.6358230113983154f,1.3716148138046265f,0.8794701099395752f,0.8379188776016235f,0.45183658599853516f,0.9175698161125183f,-0.3865056037902832f,-1.2692279815673828f},
+{3.590186834335327f,-3.4975996017456055f,0.1350027471780777f,2.3956410884857178f,3.5060923099517822f,-3.3447601795196533f,-1.807590126991272f,-1.1423075199127197f,0.1169700175523758f,2.501425266265869f,-2.12386155128479f,3.2425308227539062f,1.163952112197876f,1.4989044666290283f,-0.4132833778858185f,-2.9116435050964355f},
+{-0.006196335889399052f,0.03741585835814476f,-0.2773531675338745f,-4.473310947418213f,-0.27634772658348083f,0.12931323051452637f,0.04171861708164215f,-3.9280078411102295f,3.5595314502716064f,-0.8166646361351013f,3.1788687705993652f,-0.24399122595787048f,-0.14087243378162384f,3.2437639236450195f,-0.15618428587913513f,-2.124624490737915f},
+{-0.3596242070198059f,-0.171567901968956f,-0.35079166293144226f,-1.5157039165496826f,-0.5067394375801086f,-1.009583830833435f,4.817088603973389f,-0.4044037163257599f,-0.5577526688575745f,4.15724515914917f,2.5925800800323486f,-0.024581750854849815f,-2.805974245071411f,0.1435716301202774f,0.04303058981895447f,0.8803895711898804f},
+{-0.11844680458307266f,0.7361156940460205f,0.021878330036997795f,-0.21332386136054993f,-0.1096244677901268f,-0.5460144877433777f,-1.9238289594650269f,0.47892892360687256f,-0.43380141258239746f,0.149037167429924f,1.3499506711959839f,0.0702681839466095f,2.0669760704040527f,1.0241925716400146f,-0.30555272102355957f,-0.980358898639679f},
+{-0.02248750813305378f,-0.36836478114128113f,0.10568398237228394f,0.9146596193313599f,-0.09461541473865509f,0.10696340352296829f,-7.119680881500244f,-0.5392789840698242f,1.5476149320602417f,-0.5685486793518066f,-1.2822149991989136f,-0.6936250925064087f,5.557674407958984f,-0.6546996235847473f,0.3484981060028076f,-0.30507388710975647f},
+{0.20626938343048096f,-0.1237199530005455f,0.2928805947303772f,0.5191757082939148f,0.1295856237411499f,0.30068445205688477f,3.9183223247528076f,-2.5037665367126465f,-2.3492307662963867f,-0.7124243974685669f,-0.8994795680046082f,-0.46030789613723755f,-3.5722081661224365f,1.8683465719223022f,0.26688337326049805f,-0.44005087018013f},
+{-0.1235814169049263f,-0.31122681498527527f,-0.4815855920314789f,0.7879880666732788f,0.28719767928123474f,-0.08064402639865875f,0.6580206751823425f,-0.9771832823753357f,-0.07167230546474457f,-0.4789198040962219f,-0.7216929197311401f,0.22976653277873993f,-0.4228055477142334f,0.6537925004959106f,0.10493969917297363f,-0.35554176568984985f},
+{-0.06496161222457886f,-0.01388863380998373f,0.1188524067401886f,0.5036965012550354f,0.1850457340478897f,-0.033558476716279984f,-0.004450216423720121f,-0.19332146644592285f,0.4412379264831543f,-0.12896977365016937f,-0.41583219170570374f,0.10597457736730576f,0.19178208708763123f,0.16101115942001343f,-0.22268100082874298f,-0.02980675920844078f},
+{-0.03522493317723274f,-0.006083943881094456f,0.3326011002063751f,0.8511806726455688f,-0.12043089419603348f,-0.18758372962474823f,0.0751999244093895f,-0.3965107500553131f,0.9551570415496826f,-0.06834441423416138f,-0.6902320384979248f,0.23172923922538757f,-0.114925317466259f,-0.10242374241352081f,0.0479682981967926f,0.09168383479118347f},
+{0.022258363664150238f,0.18318961560726166f,0.12307672202587128f,0.48128053545951843f,-0.029876722022891045f,-0.05051718279719353f,-0.03138022497296333f,0.24694964289665222f,0.18856319785118103f,-0.16514801979064941f,-0.39376768469810486f,-0.29822978377342224f,0.463131308555603f,0.18574166297912598f,0.0668090283870697f,-0.29248541593551636f},
+{0.0049180155619978905f,-0.2213272899389267f,-0.483573853969574f,-0.2487296462059021f,-0.03675578907132149f,0.058383576571941376f,-0.43105602264404297f,-0.06576662510633469f,-0.6182113289833069f,0.0011734002036973834f,0.13351257145404816f,-0.008947508409619331f,-0.4899154603481293f,-0.21355555951595306f,-0.08245879411697388f,0.016924362629652023f},
+{0.01701810397207737f,-0.03982752561569214f,0.08773337304592133f,0.9987277984619141f,-0.23670294880867004f,-0.003839959856122732f,0.5555870532989502f,-0.08025806397199631f,1.011113166809082f,0.003458167891949415f,-0.6364181637763977f,0.13058964908123016f,0.0927204042673111f,0.2622024714946747f,0.29427415132522583f,-0.36754608154296875f},
 };
 
 const float h2[16][16] = {
-    {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},
-{0.23199157416820526f,-1.7880792617797852f,-0.2894435524940491f,1.9215139150619507f,0.08946844935417175f,0.49931082129478455f,-0.38759845495224f,0.12227743119001389f,0.18804843723773956f,0.08531558513641357f,-0.34142476320266724f,1.4358174800872803f,-0.5422481894493103f,-0.29128965735435486f,1.0840681791305542f,-0.26147159934043884f},
-{0.3284909129142761f,0.8169353604316711f,-0.3847824037075043f,0.16119417548179626f,0.036378175020217896f,2.1914660930633545f,-0.23565807938575745f,-0.4117702841758728f,-0.08101971447467804f,-0.5542977452278137f,1.027921438217163f,-0.36246106028556824f,-0.14990541338920593f,-1.1903846263885498f,-0.23719990253448486f,0.7545689344406128f},
-{1.9852561950683594f,1.632697582244873f,-0.4675808250904083f,1.9349418878555298f,-0.3015052080154419f,-0.8486825227737427f,-0.581864058971405f,-0.35089632868766785f,-0.3620368242263794f,0.12058626860380173f,0.7981455326080322f,-1.856131911277771f,-0.4701657295227051f,1.799214482307434f,1.8555665016174316f,-2.1990392208099365f},
-{-0.24421502649784088f,0.046817418187856674f,-0.3260969817638397f,0.1517666131258011f,-0.38453540205955505f,-0.17000475525856018f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,0.04020293802022934f,-0.32796353101730347f,-0.21546880900859833f,-0.023107079789042473f,-0.3091234266757965f,-0.3402748107910156f},
-{0.57220059633255f,0.29739347100257874f,0.19632335007190704f,0.008231665939092636f,-0.14358049631118774f,0.15171869099140167f,-0.09043094515800476f,-0.33494824171066284f,0.17879262566566467f,-0.37898191809654236f,-0.6580735445022583f,0.7165367603302002f,-0.4525156617164612f,0.18532223999500275f,-3.5652143955230713f,-0.3483140468597412f},
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-{0.7996191382408142f,0.2623150646686554f,-0.13502129912376404f,-0.9202054142951965f,0.12987366318702698f,0.021906832233071327f,0.11923511326313019f,-0.4247411787509918f,0.006385833024978638f,0.16225893795490265f,0.4018360376358032f,0.06512869894504547f,0.09138336032629013f,0.0027437149547040462f,0.7030954360961914f,-0.19797562062740326f},
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 };
 
 const float h3[16][16] = {
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+{-0.39607733488082886f,0.04120592027902603f,0.1131146028637886f,0.022423356771469116f,0.09063010662794113f,-0.17578840255737305f,0.16012099385261536f,0.3626593053340912f,-0.17838427424430847f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.23336799442768097f,-0.05953550338745117f,0.3211229145526886f,0.19986507296562195f},
+{-0.37449589371681213f,-0.5102877020835876f,-2.3412106037139893f,-1.9704302549362183f,-0.718756377696991f,0.4018186628818512f,-0.3192301094532013f,-0.37182047963142395f,0.11803273111581802f,-0.37043070793151855f,-0.25327548384666443f,-0.23666924238204956f,-0.43877601623535156f,0.18859024345874786f,-1.599037766456604f,-0.23787960410118103f},
+{0.4110594093799591f,0.3641268312931061f,-0.24094732105731964f,0.39241111278533936f,1.028276801109314f,0.09239723533391953f,-0.08670487999916077f,-0.25336313247680664f,-0.04216204956173897f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,-2.1582298278808594f,0.9374165534973145f,0.3446822166442871f,-0.48981598019599915f},
+{-0.40892091393470764f,-0.05935406684875488f,-0.2623085081577301f,0.24000565707683563f,0.4653308093547821f,-0.13498064875602722f,-0.23312048614025116f,-0.390264093875885f,0.1819913387298584f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.16760802268981934f,-0.46420595049858093f,-0.04577748477458954f,-0.024266792461276054f},
+{0.10697010159492493f,0.18819847702980042f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,0.013411798514425755f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.010594150982797146f,0.09620395302772522f,-0.06898030638694763f},
+{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.1384449154138565f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24782028794288635f,-0.3141365051269531f,-0.10168051719665527f,0.010465055704116821f},
+{0.15459725260734558f,0.7376908659934998f,0.28115618228912354f,-0.6975672245025635f,-0.5065810084342957f,-0.3017660677433014f,-0.08742031455039978f,-0.0630878359079361f,-0.9642277359962463f,-0.2220277339220047f,-0.020114075392484665f,-0.4160120189189911f,-0.6593955755233765f,-0.25608909130096436f,0.08111029863357544f,0.36404433846473694f},
+{-0.408692330121994f,0.11722688376903534f,-2.6202144622802734f,1.1614540815353394f,0.04688110575079918f,0.8050221800804138f,-0.10356326401233673f,0.040458135306835175f,-1.7546080350875854f,-0.3304281532764435f,0.02475929632782936f,-0.40160971879959106f,1.5910406112670898f,-0.8608219027519226f,-0.8164851069450378f,0.849300742149353f},
+{-0.2991822361946106f,-16.444902420043945f,-2.7731211185455322f,-9.340137481689453f,-0.21075564622879028f,-0.1905771791934967f,-0.29088878631591797f,0.1455707550048828f,0.9463095664978027f,-0.4181814193725586f,-0.044228196144104004f,-0.44137144088745117f,-3.0297417640686035f,0.3898687958717346f,-0.4988105893135071f,-1.0869044065475464f},
+{-0.2675279378890991f,-0.6821674108505249f,-0.42561009526252747f,0.20795567333698273f,0.15388953685760498f,-0.2611711621284485f,-0.5058139562606812f,-0.7550562024116516f,-0.1124289333820343f,-0.8204157948493958f,-0.48899734020233154f,-0.7760970592498779f,0.9054858088493347f,-0.5096421241760254f,-0.6139748096466064f,0.4697928726673126f},
+{-0.015470266342163086f,0.3406878411769867f,-0.34045615792274475f,0.7845275402069092f,0.12758617103099823f,-0.1876579076051712f,0.05196094512939453f,0.020785843953490257f,-5.119916915893555f,-0.5137317776679993f,0.1519099771976471f,-0.3556460440158844f,-1.3449710607528687f,-0.5167357921600342f,-8.097357749938965f,1.6800681352615356f},
+{0.1863725483417511f,0.4552655518054962f,-1.4158952236175537f,-2.1374547481536865f,0.7595136761665344f,-0.04729481041431427f,0.04860696196556091f,0.06409500539302826f,1.3406081199645996f,0.18544192612171173f,-0.5370227098464966f,0.20714588463306427f,1.428971290588379f,-0.014740538783371449f,-0.4222463369369507f,-1.120627760887146f},
 };
 
-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 };
+const float hout[16] = { 0.45773375034332275f,0.06918291747570038f,-0.12925687432289124f,-0.15688492357730865f,-0.09581243246793747f,0.12980027496814728f,0.05758979171514511f,-0.07756929844617844f,-0.07437136024236679f,0.088389091193676f,0.1648382991552353f,-0.1090453714132309f,-0.07618726044893265f,0.10542070865631104f,-0.10273952782154083f,-0.09904715418815613f };
+
+const float b1[16] = { 0.3319792151451111f,0.38004234433174133f,-1.7917866706848145f,0.8671742081642151f,0.7934799790382385f,0.8670303821563721f,-0.651479184627533f,4.418480396270752f,-1.6263774633407593f,-0.5555577278137207f,-0.8048836588859558f,1.0582845211029053f,-0.5338819622993469f,-2.1279237270355225f,-1.087764859199524f,2.0707762241363525f };
+
+const float b2[16] = { 1.2374228239059448f,1.128933072090149f,-1.5688477754592896f,-0.9324873685836792f,-0.827792227268219f,-0.05313319340348244f,0.6596731543540955f,-0.6443398594856262f,-1.352556824684143f,-2.093569755554199f,-0.12882685661315918f,-0.05392090231180191f,-1.7019206285476685f,1.365263819694519f,1.3740285634994507f,1.7110040187835693f };
+
+const float b3[16] = { -1.963319182395935f,0.3110598921775818f,1.3809770345687866f,1.4498616456985474f,1.02727472782135f,0.8841015696525574f,-0.6412962675094604f,-1.1947987079620361f,-2.0401856899261475f,0.14284981787204742f,-0.3684021830558777f,-0.4421199858188629f,-1.098542332649231f,2.0177974700927734f,-1.0107595920562744f,-0.3846563398838043f };
+
+const float bout[1] = { -0.2631767988204956f };
 
 
 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;
             }
 
@@ -2349,7 +2349,17 @@
 
             case MODE_VALVE_POSITION_CONTROL: {
                 if (OPERATING_MODE == 5) { //SW Valve
-                    VALVE_POS_CONTROL(valve_pos.ref);
+                
+                    ///////////For Test LIMC///////////////////////////////////////////////////////////////////////////////////////////////////
+                    for(int i=0; i<9; i++) {
+                        valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
+                    }
+                    valve_ref_pos_buffer[9] = valve_pos.ref;
+                    VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
+                    ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+                
+                
+                    //VALVE_POS_CONTROL(valve_pos.ref);
                     V_out = Vout.ref;
                 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
                     V_out = valve_pos.ref;