![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
distribution-201229
Diff: main.cpp
- Revision:
- 211:6fe9886cdb6e
- Parent:
- 210:efc3a92cc6be
- Child:
- 212:ec41f1449ef9
diff -r efc3a92cc6be -r 6fe9886cdb6e main.cpp --- a/main.cpp Wed Dec 23 04:36:24 2020 +0000 +++ b/main.cpp Wed Dec 23 06:27:15 2020 +0000 @@ -1,4 +1,4 @@ -//201223_2 +//201223_3 #include "mbed.h" #include "FastPWM.h" #include "INIT_HW.h" @@ -199,72 +199,72 @@ float input_NN[num_input] = { 0.0f }; const float h1[num_input][16] = { - {-1.3218942880630493f,-0.36400434374809265f,0.12903714179992676f,0.429623544216156f,-1.6577956676483154f,1.7033133506774902f,-0.17472904920578003f,-0.2851046621799469f,-0.49116143584251404f,0.06607223302125931f,0.3375219702720642f,-2.2524662017822266f,-0.27079522609710693f,-0.762893795967102f,-0.2571594715118408f,1.4109240770339966f}, -{-0.37324637174606323f,-0.15218985080718994f,-0.3927857577800751f,0.007113985251635313f,-0.3063763976097107f,0.9829694032669067f,-0.4054011106491089f,-0.31343314051628113f,-0.219583198428154f,0.2695960998535156f,-0.5558209419250488f,-1.282995581626892f,0.2314668595790863f,-1.249930739402771f,-0.20967772603034973f,0.5141465663909912f}, -{-0.6641733050346375f,0.017473289743065834f,0.36391180753707886f,-0.4323294460773468f,-0.08410172164440155f,1.215465784072876f,0.2872133255004883f,-0.043526541441679f,-0.243999183177948f,0.22554270923137665f,-0.44232791662216187f,-1.150320053100586f,-0.0057098641991615295f,-0.04272075369954109f,0.05590221285820007f,0.32508206367492676f}, -{-1.0940684080123901f,-0.04530835524201393f,0.39742106199264526f,0.1436801254749298f,-0.6349416375160217f,0.4820998013019562f,-0.11584559082984924f,0.30921149253845215f,-0.000982354860752821f,0.3077179789543152f,0.878911018371582f,-0.22050485014915466f,-0.16739247739315033f,0.9827160835266113f,-0.2961459457874298f,0.920122504234314f}, -{-0.06578315794467926f,0.3108767569065094f,-0.0051451027393341064f,-0.02737285941839218f,-0.3175713121891022f,-0.6044548153877258f,0.1294034719467163f,0.07160712033510208f,0.0824594646692276f,0.0623602457344532f,1.4683424234390259f,0.9879506230354309f,-0.07084126025438309f,1.5485845804214478f,-0.3865056037902832f,-0.10284630954265594f}, -{3.439326763153076f,-0.08953062444925308f,0.21773302555084229f,-0.20206354558467865f,3.1267402172088623f,-3.7185111045837402f,0.16514194011688232f,-0.02496114745736122f,0.19640423357486725f,-0.0020644422620534897f,-1.5591723918914795f,3.902881622314453f,-0.2675211429595947f,-0.4959312081336975f,-0.4132833778858185f,-3.3079867362976074f}, -{-1.1197727918624878f,-0.5500129461288452f,-0.2501986622810364f,-0.2799862027168274f,-2.3328442573547363f,-0.132772758603096f,0.06014183163642883f,-1.004108190536499f,0.15053577721118927f,0.2857603430747986f,2.9658493995666504f,1.8222824335098267f,-0.1866893470287323f,5.238436698913574f,-0.15618428587913513f,0.5511018633842468f}, -{-0.9798851609230042f,-0.703582227230072f,-0.26619744300842285f,-0.0006682495004497468f,-1.6165897846221924f,0.380368709564209f,-0.17925891280174255f,-0.7800179719924927f,-0.15784938633441925f,0.15170113742351532f,0.36156779527664185f,-0.5079174637794495f,0.3572063446044922f,2.8821215629577637f,0.04303058981895447f,0.9579430818557739f}, -{1.7867474555969238f,-0.0848393663764f,0.10248100757598877f,-0.764881432056427f,1.6779911518096924f,0.12515445053577423f,-0.07246989011764526f,-0.5425961017608643f,-0.43091732263565063f,0.23076780140399933f,-3.556222915649414f,-0.45602038502693176f,0.2150629162788391f,-0.22613663971424103f,-0.30555272102355957f,-1.1970525979995728f}, -{0.49247217178344727f,-0.6100321412086487f,0.18462657928466797f,-0.44132569432258606f,0.5540245771408081f,0.11097308248281479f,-0.2990540862083435f,-0.12513786554336548f,-0.21949408948421478f,-0.6120793223381042f,-1.7016773223876953f,-1.0618832111358643f,0.3581237494945526f,-0.3369358777999878f,0.3484981060028076f,-0.646379828453064f}, -{0.4998452067375183f,-0.23967741429805756f,0.37182438373565674f,0.11048014461994171f,-0.176174134016037f,-0.18318013846874237f,-0.20339298248291016f,-0.03489489480853081f,-0.6619229912757874f,-0.06554030627012253f,-0.3575388193130493f,-0.5891056656837463f,-0.08014930039644241f,-0.16254858672618866f,0.26688337326049805f,-0.549512505531311f}, -{-0.16863179206848145f,-0.63383549451828f,-0.40320003032684326f,-0.06436152756214142f,0.10193628072738647f,-0.42881327867507935f,0.1533789038658142f,0.3290553092956543f,-0.33869749307632446f,0.16060978174209595f,-0.6078652143478394f,0.07535827159881592f,0.13159756362438202f,-0.25955528020858765f,0.10493969917297363f,-0.3826476037502289f}, -{-0.02708348259329796f,-0.2554214298725128f,0.19847965240478516f,0.11599287390708923f,0.21222886443138123f,-0.11548527330160141f,-0.2404318004846573f,0.09940898418426514f,-0.2991648018360138f,-0.22267135977745056f,-0.10326461493968964f,-0.27013441920280457f,0.07888800650835037f,-0.220597505569458f,-0.22268100082874298f,-0.5450948476791382f}, -{-0.08554086834192276f,-0.0048485384322702885f,0.4127817749977112f,-0.10780080407857895f,-0.15764707326889038f,-0.468060702085495f,-0.32001304626464844f,-0.35388854146003723f,-0.2101491242647171f,-0.26073700189590454f,-0.2794083058834076f,0.0009492248645983636f,-0.32617586851119995f,-0.23431988060474396f,0.0479682981967926f,-0.13342662155628204f}, -{-0.010516862384974957f,0.16337159276008606f,0.20282304286956787f,0.10361315310001373f,0.23695318400859833f,-0.28938424587249756f,0.04202890396118164f,0.18139049410820007f,0.21247349679470062f,0.04262121394276619f,-0.15076512098312378f,-0.23182213306427002f,0.09068387746810913f,-0.10250203311443329f,0.0668090283870697f,0.147233784198761f}, -{-0.024800969287753105f,-0.18882757425308228f,-0.40439701080322266f,-0.0288613922894001f,0.08520511537790298f,-0.33271586894989014f,-0.15568238496780396f,-0.1499001532793045f,0.09826154261827469f,-0.050523608922958374f,-0.705298662185669f,0.015389705076813698f,-0.2764745354652405f,-0.10522280633449554f,-0.08245879411697388f,0.11431360244750977f}, -{-0.20605795085430145f,-0.06449012458324432f,0.16706281900405884f,0.21528883278369904f,0.2196291834115982f,-0.678229808807373f,-0.041414469480514526f,-0.17858709394931793f,-0.20013731718063354f,0.05195881053805351f,-1.3081425428390503f,-0.11665066331624985f,0.10795028507709503f,-0.07690823823213577f,0.29427415132522583f,0.2846755087375641f}, + {-1.546078085899353f,0.361652135848999f,0.12903714179992676f,-1.0499156713485718f,-1.5020780563354492f,0.799557089805603f,-0.17472904920578003f,1.6538918018341064f,-0.33628979325294495f,-1.0321094989776611f,-0.23684848845005035f,-0.9042033553123474f,-0.25509142875671387f,-1.1200040578842163f,-0.2571594715118408f,-0.6349852085113525f}, +{-0.8596522808074951f,-0.3120137155056f,-0.3927857577800751f,-1.1837406158447266f,-0.7431631088256836f,0.11158730834722519f,-0.4054011106491089f,0.4331357181072235f,-0.13612186908721924f,0.5075802206993103f,-0.27370503544807434f,-0.5497169494628906f,0.24488189816474915f,-1.353187918663025f,-0.20967772603034973f,-0.2520674169063568f}, +{-1.027856707572937f,0.2214081585407257f,0.36391180753707886f,-1.4669344425201416f,-0.6888070702552795f,0.08477509766817093f,0.2872133255004883f,0.6314951181411743f,-0.23233523964881897f,0.12511108815670013f,-0.34768086671829224f,-0.4033336937427521f,0.006954585202038288f,-1.001330852508545f,0.05590221285820007f,-0.35799112915992737f}, +{-0.8887169361114502f,0.9978446364402771f,0.39742106199264526f,-0.22255514562129974f,-0.8239138722419739f,-0.41667890548706055f,-0.11584559082984924f,0.975131630897522f,-0.06620155274868011f,-0.9019508957862854f,0.09614303708076477f,0.20408129692077637f,-0.1548970490694046f,-0.6461730003356934f,-0.2961459457874298f,0.17067596316337585f}, +{0.6723200082778931f,1.1419994831085205f,-0.0051451027393341064f,1.0692040920257568f,0.10727441310882568f,-0.5531254410743713f,0.1294034719467163f,-0.25556430220603943f,-0.07107188552618027f,-1.0929906368255615f,0.3479995131492615f,0.2231312096118927f,-0.058105532079935074f,0.8237587809562683f,-0.3865056037902832f,0.11934724450111389f}, +{3.7127530574798584f,-2.5174219608306885f,0.21773302555084229f,3.0477185249328613f,3.436016082763672f,-1.961868166923523f,0.16514194011688232f,-3.4211652278900146f,-0.0615205354988575f,2.477680206298828f,-0.2475488781929016f,0.8490079045295715f,-0.2543642520904541f,3.181417226791382f,-0.4132833778858185f,0.3736213147640228f}, +{-0.26929038763046265f,3.1808366775512695f,-0.2501986622810364f,-4.459082126617432f,-1.539385199546814f,0.6246992349624634f,0.06014183163642883f,-1.5718029737472534f,0.06852987408638f,-1.5334218740463257f,0.15086963772773743f,-0.08829033374786377f,-0.17151489853858948f,3.3346705436706543f,-0.15618428587913513f,-0.29000696539878845f}, +{-1.1418464183807373f,1.525067687034607f,-0.26619744300842285f,0.19319379329681396f,-1.3049606084823608f,0.38398781418800354f,-0.17925891280174255f,0.7847610116004944f,-0.10247176140546799f,-0.9229041934013367f,0.10430599004030228f,-0.8101029396057129f,0.3782026171684265f,-0.81373530626297f,0.04303058981895447f,-0.20076002180576324f}, +{0.4776228070259094f,-1.9194914102554321f,0.10248100757598877f,-0.7253445386886597f,0.7790623307228088f,-0.7391023635864258f,-0.07246989011764526f,-1.3036123514175415f,-0.4540105164051056f,3.632073402404785f,-0.2983750104904175f,-0.27986952662467957f,0.23655663430690765f,-0.36471793055534363f,-0.30555272102355957f,-0.650860607624054f}, +{-0.27427127957344055f,-2.133636713027954f,0.18462657928466797f,-0.8196331858634949f,0.28979337215423584f,-0.3763601779937744f,-0.2990540862083435f,-0.35786694288253784f,-0.1715877801179886f,1.369327187538147f,-0.009420383721590042f,-1.114159345626831f,0.3801093101501465f,-0.5582246780395508f,0.3484981060028076f,-0.8675364851951599f}, +{0.17901860177516937f,-1.224602460861206f,0.37182438373565674f,-0.17586977779865265f,-0.19623121619224548f,-0.3711324632167816f,-0.20339298248291016f,0.016905533149838448f,-0.5214647054672241f,0.6325316429138184f,0.34721440076828003f,-0.8592796921730042f,-0.05839260667562485f,-0.005120187532156706f,0.26688337326049805f,-0.9529700875282288f}, +{-0.06906984001398087f,-1.2341407537460327f,-0.40320003032684326f,0.02483939193189144f,0.1510181427001953f,-0.5047181844711304f,0.1533789038658142f,0.14664340019226074f,-0.16939152777194977f,0.3664097189903259f,-0.4153592884540558f,-0.17172104120254517f,0.15277211368083954f,0.43496182560920715f,0.10493969917297363f,-0.41127416491508484f}, +{0.023423831909894943f,-0.88052898645401f,0.19847965240478516f,0.30479538440704346f,0.2847832441329956f,-0.2262878566980362f,-0.2404318004846573f,0.18100465834140778f,-0.1452060043811798f,0.01916847750544548f,-0.10988222062587738f,-0.33172914385795593f,0.09968993812799454f,0.26685139536857605f,-0.22268100082874298f,-0.4445679485797882f}, +{-0.09026174992322922f,-0.6224011182785034f,0.4127817749977112f,0.4731111526489258f,-0.190794438123703f,-0.5028371214866638f,-0.32001304626464844f,-0.24426521360874176f,-0.08077334612607956f,-0.007110084872692823f,-0.19549734890460968f,-0.11970767378807068f,-0.3054847717285156f,0.2603020668029785f,0.0479682981967926f,0.15816257894039154f}, +{0.022531412541866302f,-0.17848119139671326f,0.20282304286956787f,0.4242058992385864f,0.2516932785511017f,-0.20840142667293549f,0.04202890396118164f,0.35329484939575195f,0.3554973304271698f,0.1979427933692932f,-0.27989843487739563f,-0.3284192681312561f,0.11093859374523163f,0.19121049344539642f,0.0668090283870697f,0.2350914478302002f}, +{0.0005804843385703862f,-0.3353522717952728f,-0.40439701080322266f,0.6412276029586792f,-0.07361637055873871f,0.00661800242960453f,-0.15568238496780396f,-0.03549305722117424f,0.26091328263282776f,0.1284361630678177f,-0.47459378838539124f,-0.04844345897436142f,-0.2634789049625397f,0.25194695591926575f,-0.08245879411697388f,0.22769993543624878f}, +{-0.12284072488546371f,-0.24371252954006195f,0.16706281900405884f,1.3465361595153809f,0.027943080291152f,-0.13184677064418793f,-0.041414469480514526f,0.14739923179149628f,0.009675423614680767f,0.09683336317539215f,-0.354688823223114f,0.17883950471878052f,0.12002348899841309f,0.7905712723731995f,0.29427415132522583f,0.016808994114398956f}, }; const float h2[16][16] = { - {1.086565613746643f,2.574704647064209f,-0.06966331601142883f,1.6805508136749268f,-0.21907491981983185f,2.837353229522705f,0.04810171574354172f,0.030697785317897797f,-0.43008196353912354f,-0.1415480375289917f,0.5063120126724243f,-1.9408607482910156f,0.022154537960886955f,-3.385542154312134f,2.279616594314575f,-0.044693201780319214f}, -{-0.37410521507263184f,-0.46174633502960205f,0.057057321071624756f,0.049985624849796295f,-0.35503754019737244f,-0.4283068776130676f,-0.36380279064178467f,-0.35795170068740845f,-0.33757925033569336f,0.2895788848400116f,-1.1613237857818604f,-0.08905521780252457f,0.1978856921195984f,0.06828687340021133f,-0.024457667022943497f,-0.5562209486961365f}, + {-4.527799129486084f,0.6820409893989563f,-0.06966331601142883f,0.5540435910224915f,-0.21907491981983185f,3.1338891983032227f,-0.06048932299017906f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-4.606686592102051f,-0.37958794832229614f,-0.016400590538978577f,-4.008707046508789f,3.2936906814575195f,-0.4451225697994232f}, +{-0.025993891060352325f,-0.8604259490966797f,0.057057321071624756f,-0.5842818021774292f,-0.35503754019737244f,-0.5380035042762756f,-0.6036195158958435f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.5821780562400818f,-0.7649829387664795f,0.0743352621793747f,-0.12555116415023804f,0.844036877155304f,-0.6543750166893005f}, {-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}, -{0.01423916220664978f,-0.38853248953819275f,-0.2894435524940491f,0.3727268874645233f,0.08946844935417175f,0.10421331971883774f,-0.23805072903633118f,0.3510231077671051f,0.26211628317832947f,0.2953031361103058f,-0.5028022527694702f,0.19459620118141174f,-0.5438413023948669f,-0.16673438251018524f,0.3145257532596588f,0.01681516319513321f}, -{2.0800623893737793f,1.432834267616272f,-0.25313520431518555f,-0.016256675124168396f,0.036378175020217896f,0.8040815591812134f,-0.5962198376655579f,-0.14559465646743774f,-0.024399548768997192f,-0.39465832710266113f,2.0540409088134766f,-2.2457785606384277f,-0.03767414391040802f,-1.5023373365402222f,-4.233590602874756f,-1.2050756216049194f}, -{0.6775730848312378f,2.3938848972320557f,-0.3519742488861084f,-1.6996997594833374f,-0.3015052080154419f,-0.7195495367050171f,-0.45002612471580505f,-0.07942326366901398f,-0.23047015070915222f,0.3579089343547821f,2.074578046798706f,1.2932076454162598f,-0.34661057591438293f,-0.16136223077774048f,-0.6242503523826599f,-2.459754228591919f}, +{-0.3417482376098633f,0.3533795177936554f,-0.2894435524940491f,0.04954472929239273f,0.08946844935417175f,-0.08458209037780762f,-0.48501384258270264f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,-0.19418053328990936f,0.020002810284495354f,-0.5509099364280701f,0.2837100028991699f,0.16813787817955017f,-0.1687486618757248f}, +{-1.1204174757003784f,1.8965997695922852f,-0.25313520431518555f,0.6254236698150635f,0.036378175020217896f,0.8173602819442749f,-0.6155303120613098f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-1.9287620782852173f,-0.91059809923172f,-0.0442003458738327f,-1.2676142454147339f,0.927952229976654f,-0.6073963046073914f}, +{-0.16543826460838318f,0.021899903193116188f,-0.3519742488861084f,0.09473834186792374f,-0.3015052080154419f,-0.3208472728729248f,-0.7214264273643494f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.20117740333080292f,-0.3499281406402588f,-0.3562796711921692f,-0.33363988995552063f,0.005666304845362902f,-0.934236466884613f}, {-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}, -{0.5051438808441162f,0.4051232635974884f,0.33083590865135193f,-0.27685779333114624f,-0.14358049631118774f,-0.4349077343940735f,-0.09043094515800476f,-0.32793861627578735f,0.2600560486316681f,-0.37898191809654236f,-1.0842820405960083f,-0.38802140951156616f,-0.31673234701156616f,0.0956958457827568f,0.14717528223991394f,0.30060118436813354f}, -{-0.42268261313438416f,0.06737900525331497f,-0.11379697918891907f,0.04332885146141052f,0.041274964809417725f,-0.6803827881813049f,-0.10284432768821716f,-0.05322534218430519f,0.06103590130805969f,-0.38046833872795105f,-0.4098280668258667f,0.1557205766439438f,-0.37024784088134766f,-0.12674230337142944f,-0.12822191417217255f,-0.49499791860580444f}, -{-0.08738718181848526f,0.28344640135765076f,-0.13502129912376404f,0.1009710505604744f,0.12987366318702698f,0.11979040503501892f,0.2711336314678192f,-0.3837684988975525f,-0.13619378209114075f,0.16938945651054382f,0.25600337982177734f,0.20644976198673248f,0.2439122498035431f,-0.33253055810928345f,-0.02116083726286888f,-0.19732771813869476f}, -{0.15024028718471527f,-0.3313325047492981f,0.0457797646522522f,-0.013095580972731113f,-0.03321319818496704f,-0.3155671954154968f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.8987048268318176f,-0.39230379462242126f,-0.46108195185661316f,-0.22425983846187592f,-0.17279477417469025f,-0.08967062085866928f}, -{1.181969404220581f,-2.0675883293151855f,0.3954955041408539f,3.6613519191741943f,0.0033026933670043945f,1.4220753908157349f,-0.42960718274116516f,-0.17812912166118622f,0.3487861454486847f,-0.32520344853401184f,-2.81772518157959f,1.658347487449646f,-0.059010960161685944f,-0.055940140038728714f,1.9505656957626343f,-1.9203261137008667f}, -{-0.2699771523475647f,-0.22843177616596222f,-0.15798500180244446f,0.35002923011779785f,-0.37393757700920105f,0.35887888073921204f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.12342590093612671f,-0.2837170362472534f,0.41839322447776794f,0.0017942850245162845f,-0.11156019568443298f,0.08838236331939697f}, -{-3.942028522491455f,-3.311384439468384f,-0.2018718123435974f,0.14251072704792023f,0.07545611262321472f,-0.46971479058265686f,-0.27744850516319275f,-0.2663668394088745f,-0.24509364366531372f,0.19522181153297424f,-10.485258102416992f,0.45670536160469055f,-0.3057396411895752f,-0.43390122056007385f,-1.0128750801086426f,-0.2547776699066162f}, +{1.434049367904663f,2.2621963024139404f,0.33083590865135193f,-0.9461531043052673f,-0.14358049631118774f,-1.4297912120819092f,-0.4557732939720154f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.277005672454834f,-0.6271990537643433f,-0.3571954667568207f,2.0465574264526367f,1.4298032522201538f,-0.5386678576469421f}, +{-0.003402497386559844f,0.20103180408477783f,-0.11379697918891907f,0.13531987369060516f,0.041274964809417725f,-0.4882394075393677f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-0.24828092753887177f,-0.41271302103996277f,-0.5109040141105652f,-0.3721432685852051f,-0.2930859923362732f,-0.37981683015823364f}, +{-0.11852412670850754f,1.400585412979126f,-0.13502129912376404f,-0.029812220484018326f,0.12987366318702698f,0.7441322207450867f,-0.19215475022792816f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,1.7496157884597778f,-0.2276460826396942f,0.2347428798675537f,-1.5889536142349243f,-1.7217092514038086f,-0.642086923122406f}, +{-0.23210932314395905f,-0.04187174141407013f,0.0457797646522522f,-0.3829827308654785f,-0.03321319818496704f,-0.4536677598953247f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.2448161542415619f,0.3545852601528168f,-0.3647043704986572f,0.4557090699672699f,-0.3617521822452545f,-0.3207983374595642f}, +{0.5958813428878784f,-0.7483598589897156f,0.3954955041408539f,1.180490493774414f,0.0033026933670043945f,-0.33814364671707153f,-0.34186798334121704f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.09490237385034561f,-0.25271910429000854f,-0.06444605439901352f,-0.3411557078361511f,1.0280723571777344f,0.09367766976356506f}, +{-0.2807841897010803f,-0.20072904229164124f,-0.15798500180244446f,0.3993121385574341f,-0.37393757700920105f,0.3688228130340576f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.10335299372673035f,-0.2837170362472534f,0.41839322447776794f,-0.03184046968817711f,-0.13749822974205017f,0.12308792769908905f}, +{-0.7124980688095093f,-1.5801732540130615f,-0.2018718123435974f,0.5093134045600891f,0.07545611262321472f,-0.9844921827316284f,-0.5402578711509705f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,-0.9905045032501221f,-0.825104832649231f,-0.37918412685394287f,-0.08422137796878815f,-1.6365492343902588f,-0.5184823870658875f}, {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}, -{0.7931989431381226f,0.7419624924659729f,0.12081471085548401f,-0.7267265319824219f,0.29976895451545715f,-1.240850567817688f,-0.2380465716123581f,0.250751256942749f,-0.3893685042858124f,-0.02222958207130432f,-0.8707955479621887f,0.12276076525449753f,-0.3236342966556549f,0.46684637665748596f,0.5395627617835999f,-0.8622570633888245f}, +{0.27611151337623596f,0.09705754369497299f,0.12081471085548401f,0.27666717767715454f,0.29976895451545715f,-0.11293527483940125f,-0.112851083278656f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,1.0978219509124756f,-0.19350941479206085f,-0.3426505923271179f,-0.2275802493095398f,0.19496259093284607f,-0.09103284776210785f}, }; const float h3[16][16] = { - {-0.36079341173171997f,-0.9896907210350037f,2.566742181777954f,1.1174317598342896f,-2.1639771461486816f,-0.3735062777996063f,0.24656157195568085f,0.16717645525932312f,-4.844010353088379f,-0.17538253962993622f,-0.38347333669662476f,0.06564424932003021f,-0.528713583946228f,1.4847720861434937f,-0.17825211584568024f,-0.48647341132164f}, -{0.047732532024383545f,1.835311770439148f,-3.989875078201294f,-1.0266798734664917f,-0.17154192924499512f,-0.2671833038330078f,-0.4181799292564392f,-0.08267560601234436f,0.8685728311538696f,-0.46098625659942627f,0.12363140285015106f,-0.7202304601669312f,0.4795161485671997f,-0.36958348751068115f,-0.33969876170158386f,0.38744300603866577f}, + {-0.36079341173171997f,-0.027788789942860603f,-0.5638431906700134f,-0.3619849383831024f,0.9020170569419861f,-1.959873080253601f,0.3332441747188568f,0.3036012351512909f,-5.876060485839844f,-0.054545141756534576f,-0.5245512127876282f,0.4001283347606659f,-1.4624212980270386f,-1.581647515296936f,-1.5321080684661865f,-13.199106216430664f}, +{0.047732532024383545f,-0.5910640358924866f,-8.166666030883789f,-0.5409420728683472f,-4.017717361450195f,0.39238861203193665f,-0.3198729455471039f,-0.09377332031726837f,0.43005314469337463f,-0.4782581329345703f,0.19243593513965607f,-0.37189948558807373f,-0.2667408287525177f,-0.2056405246257782f,0.30308958888053894f,-0.060796454548835754f}, {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,0.3438586890697479f,-1.3785123825073242f,-0.32740458846092224f,2.1433217525482178f,0.8283578753471375f,0.120731420814991f,-0.05569665879011154f,-4.613624095916748f,-0.648725152015686f,0.0031571832951158285f,0.020493555814027786f,-1.1740103960037231f,-1.3394651412963867f,0.34946492314338684f,-3.218242645263672f}, +{-0.30922991037368774f,-0.9375655651092529f,1.271071434020996f,-0.39220312237739563f,0.5873679518699646f,-0.13144546747207642f,0.20021501183509827f,0.07002416253089905f,-0.2176603227853775f,-0.38262107968330383f,0.13192829489707947f,0.41021624207496643f,-2.843594551086426f,-0.36432549357414246f,1.2759990692138672f,0.3920643627643585f}, {-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,0.6101797819137573f,-1.2181596755981445f,-0.5827922224998474f,-0.8879736661911011f,0.07010719180107117f,-0.18732719123363495f,0.08816012740135193f,-0.006525547243654728f,-0.3420955538749695f,-0.22282767295837402f,0.0009094775305129588f,0.841801106929779f,1.4600549936294556f,0.5438138842582703f,-1.1902813911437988f}, -{0.4110594093799591f,0.1984775811433792f,-0.2031489461660385f,0.47899430990219116f,0.22170546650886536f,-0.15623991191387177f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.26677072048187256f,0.03510013595223427f,0.3126353323459625f,-0.25811511278152466f}, -{-0.40892091393470764f,0.05906093493103981f,-0.40232452750205994f,0.22033147513866425f,0.3268229365348816f,-0.03595959022641182f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2899816036224365f,-0.34944114089012146f,0.09555623680353165f,0.005298197269439697f}, +{-0.37449589371681213f,-0.32177311182022095f,-0.13848188519477844f,-0.19442035257816315f,0.5686139464378357f,0.40435296297073364f,-0.18732719123363495f,0.06904307007789612f,-2.3580894470214844f,-0.49854135513305664f,-0.29749685525894165f,0.04152391850948334f,0.6664230227470398f,0.778885543346405f,1.3324100971221924f,-1.2925522327423096f}, +{0.4110594093799591f,0.044055234640836716f,-0.08168259263038635f,0.37246426939964294f,0.23470649123191833f,-0.32751786708831787f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.31841135025024414f,-0.1037849485874176f,0.06134301796555519f,-0.06596158444881439f}, +{-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,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,0.15348730981349945f,-4.331019878387451f,-0.12700089812278748f,-0.43322819471359253f,0.6307356953620911f,-0.08742031455039978f,-0.07590076327323914f,-1.1967891454696655f,-0.34674903750419617f,-0.14378179609775543f,-0.6840097904205322f,-0.24892647564411163f,-1.46860671043396f,0.4001198410987854f,-0.34875261783599854f}, -{-0.408692330121994f,-2.4127047061920166f,0.6133113503456116f,0.6079068183898926f,-1.315674901008606f,-1.007749319076538f,-0.03212685510516167f,0.38763079047203064f,-0.1677095741033554f,-0.36886489391326904f,-0.021568385884165764f,-0.33266445994377136f,1.6963165998458862f,0.9977030754089355f,-0.7752869129180908f,-1.1602344512939453f}, -{-0.2991822361946106f,0.362497478723526f,-0.06535498052835464f,-0.05932474136352539f,0.0975942388176918f,0.2226579189300537f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.026891062036156654f,-0.1484510898590088f,0.3464936316013336f,-0.15040993690490723f}, -{-0.2675279378890991f,0.6284428834915161f,-2.0627334117889404f,1.5773100852966309f,1.4359925985336304f,-0.389126718044281f,-0.32875844836235046f,-0.31893211603164673f,0.16554830968379974f,-0.7438210248947144f,-0.48459216952323914f,-0.9164623618125916f,0.01574878580868244f,-0.8491065502166748f,0.36173921823501587f,1.086820363998413f}, -{-0.015470266342163086f,0.27051296830177307f,0.5455320477485657f,0.17461276054382324f,0.1404210478067398f,-0.7530509829521179f,-0.02548167109489441f,-0.008358269929885864f,-1.811440110206604f,-0.7032980918884277f,-0.0036238140892237425f,-0.3215062916278839f,-0.8373879790306091f,-0.4874410629272461f,-0.16436916589736938f,-0.6490094661712646f}, -{0.1863725483417511f,0.6204939484596252f,-0.29299893975257874f,0.23702117800712585f,-0.49486076831817627f,1.1787160634994507f,0.04860696196556091f,0.17769548296928406f,-3.209083318710327f,-0.2113076001405716f,-0.3929237127304077f,0.018219824880361557f,1.9527950286865234f,0.24260221421718597f,-0.011532197706401348f,-0.2762066423892975f}, +{0.15459725260734558f,0.06760230660438538f,-0.05053713917732239f,-0.20622020959854126f,0.10792963206768036f,2.0012118816375732f,-0.08742031455039978f,-0.08940897136926651f,1.7973898649215698f,-0.4718508720397949f,-0.017247267067432404f,-0.30447322130203247f,1.1298593282699585f,-2.2213985919952393f,1.614871621131897f,-1.5353620052337646f}, +{-0.408692330121994f,0.05310394987463951f,0.006142709869891405f,0.0922636091709137f,-0.06141231954097748f,-0.10681948065757751f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.5435109734535217f,-0.26423168182373047f,-0.06897956132888794f,-0.005480319261550903f}, +{-0.2991822361946106f,0.3794580399990082f,-0.03499889746308327f,-0.05932474136352539f,0.1246454045176506f,0.18244199454784393f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.01592516526579857f,-0.17703768610954285f,0.3047117292881012f,-0.09707321226596832f}, +{-0.2675279378890991f,0.08392087370157242f,1.9263038635253906f,-0.196403369307518f,-0.642519474029541f,0.12846513092517853f,-0.32875844836235046f,-0.31893211603164673f,-0.7980329394340515f,-0.6586599349975586f,-0.5574883818626404f,-0.553442120552063f,1.8443384170532227f,-0.7449765801429749f,0.4301890730857849f,0.058003246784210205f}, +{-0.015470266342163086f,-1.6724193096160889f,-0.6594526171684265f,0.19432266056537628f,0.11945655941963196f,-1.1154193878173828f,0.05196094512939453f,-0.008358269929885864f,-0.7575642466545105f,-0.42180460691452026f,-0.10627111047506332f,-0.11511552333831787f,-0.29712188243865967f,0.42317667603492737f,-1.8194135427474976f,2.299999237060547f}, +{0.1863725483417511f,0.2846532464027405f,-0.18863269686698914f,-0.5003810524940491f,0.3160429000854492f,0.2056346833705902f,0.04860696196556091f,0.17769548296928406f,0.012768898159265518f,0.3378079831600189f,-0.3929237127304077f,0.19592127203941345f,0.34371641278266907f,0.2283545434474945f,-0.004608725663274527f,-0.08839904516935349f}, }; -const float hout[16] = { 0.45773375034332275f,0.21716231107711792f,-0.10662519931793213f,-0.15387772023677826f,-0.2196422517299652f,0.2064427137374878f,-0.10921455174684525f,0.1304573118686676f,-0.12518544495105743f,0.0890493243932724f,0.06451720744371414f,-0.059981025755405426f,-0.24339118599891663f,0.21811717748641968f,0.4603889584541321f,-0.21442806720733643f }; - -const float b1[16] = { 0.19295264780521393f,1.094767451286316f,-1.7145336866378784f,0.35016536712646484f,0.8905879259109497f,1.1228079795837402f,-0.058932315558195114f,0.8859702944755554f,0.40630224347114563f,-0.8278393745422363f,2.5525219440460205f,0.8436682224273682f,-0.38463300466537476f,-3.1473605632781982f,-1.087764859199524f,1.0978176593780518f }; - -const float b2[16] = { -1.2509182691574097f,-0.646367609500885f,-1.4564176797866821f,-0.507847011089325f,-0.6939148902893066f,-0.4377679228782654f,0.0604497455060482f,-0.3696805536746979f,-1.200630784034729f,-1.912178635597229f,-0.12731675803661346f,0.8075035810470581f,-0.21940016746520996f,1.736842393875122f,0.5691323280334473f,1.4795602560043335f }; - -const float b3[16] = { -1.963319182395935f,-0.8063167929649353f,1.322169303894043f,-0.5002508759498596f,-0.39175909757614136f,0.863596498966217f,-0.5429335236549377f,-0.7943687438964844f,0.3544142544269562f,-0.010377739556133747f,-0.44223567843437195f,-0.39951252937316895f,-0.7216567397117615f,0.4033844470977783f,-1.1502139568328857f,0.6962782144546509f }; - -const float bout[1] = { -0.15546835958957672f }; +const float hout[16] = { 0.45773375034332275f,0.20441627502441406f,-0.2907588481903076f,-0.009697429835796356f,-0.13994097709655762f,0.2031724900007248f,0.0030125975608825684f,0.07766560465097427f,-0.1913822889328003f,0.057547036558389664f,0.13517257571220398f,-0.26330289244651794f,-0.18393218517303467f,0.33344095945358276f,0.14132554829120636f,-0.19920329749584198f }; + +const float b1[16] = { 0.7073319554328918f,2.1660501956939697f,-1.7145336866378784f,1.7168519496917725f,1.199524998664856f,1.0270514488220215f,-0.058932315558195114f,1.1854357719421387f,0.5485185980796814f,-1.4036970138549805f,0.5711912512779236f,1.4113762378692627f,-0.36514076590538025f,-1.5963966846466064f,-1.087764859199524f,1.332677960395813f }; + +const float b2[16] = { 0.9642994403839111f,-1.7880347967147827f,-1.4564176797866821f,-0.6939772963523865f,-0.6939148902893066f,0.26103776693344116f,-0.01476240810006857f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.39619338512420654f,0.15750396251678467f,-0.3155595064163208f,1.7251747846603394f,0.4949413537979126f,0.4069630801677704f }; + +const float b3[16] = { -1.963319182395935f,0.8966529965400696f,-0.72108393907547f,-0.3776831030845642f,0.27197739481925964f,0.39454057812690735f,-0.45353031158447266f,-0.8078028559684753f,1.2238730192184448f,0.07242175191640854f,-0.39867648482322693f,-0.09921017289161682f,-1.0563924312591553f,0.7492903470993042f,-0.5671085715293884f,-0.5422713160514832f }; + +const float bout[1] = { -0.3978618383407593f }; /////////////////////////////////////////////////////////////////////////////////////////////RL float input_RL[num_input_RL] = { 0.0f }; @@ -1041,9 +1041,9 @@ 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] - torq.sen)/10000.0f + 0.5f; + input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f; // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; - input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f; +// input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f; ind = ind + 1; }