Diff: main.cpp

Revision:

232:0287991a8615

Parent:

231:53de35471dc7

Child:

233:0a37cdd59651

--- a/main.cpp	Wed Dec 30 06:53:25 2020 +0000
+++ b/main.cpp	Wed Dec 30 11:14:47 2020 +0000
@@ -1,4 +1,4 @@
-//201230_3
+//201230_4
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -199,71 +199,70 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = {
-    {-1.9263023138046265f,1.2565475702285767f,0.1310378611087799f,-0.7171328663825989f,-1.6638556718826294f,2.41223406791687f,-0.17743819952011108f,-0.12732535600662231f,0.197967529296875f,-2.4429471492767334f,0.6014160513877869f,-2.65081787109375f,-0.2751281261444092f,0.3872623145580292f,-0.2611466646194458f,-0.20388372242450714f},
-{-0.8760362267494202f,0.3863745629787445f,-0.3988758325576782f,-0.5291993021965027f,-0.5694252848625183f,1.2946312427520752f,-0.4116867780685425f,-0.22876569628715515f,0.1517363339662552f,-1.6561946868896484f,-0.45489057898521423f,-1.691250205039978f,0.23222962021827698f,-0.2950204908847809f,-0.21292872726917267f,0.01600177399814129f},
-{-0.9007099866867065f,0.6718482375144958f,0.36955419182777405f,-0.7104339003562927f,-0.4226318299770355f,1.0896837711334229f,0.2916664779186249f,-0.01620110124349594f,-0.02159370668232441f,-0.793718695640564f,-0.11682294309139252f,-1.2158480882644653f,-0.009753492660820484f,0.09420771151781082f,0.056768983602523804f,-0.2928417921066284f},
-{-0.8114799857139587f,0.8157651424407959f,0.40358296036720276f,0.06533468514680862f,-0.660064697265625f,0.09888201206922531f,-0.11764177680015564f,0.2820272743701935f,0.10149487853050232f,0.5306861996650696f,1.088588833808899f,0.11177092790603638f,-0.17443212866783142f,-0.09849850088357925f,-0.3007376194000244f,-0.02941063791513443f},
-{0.6717588305473328f,0.34743309020996094f,-0.005224883556365967f,0.38920730352401733f,-0.006901777349412441f,-1.0295268297195435f,0.13140985369682312f,-0.037608977407217026f,-0.11234983801841736f,1.7851743698120117f,1.2310711145401f,1.5052003860473633f,-0.0765354260802269f,-0.10877707600593567f,-0.39249828457832336f,-0.41519537568092346f},
-{3.8788771629333496f,-3.4141626358032227f,0.22110894322395325f,1.4132412672042847f,3.250668525695801f,-3.932023048400879f,0.16770240664482117f,-0.25149860978126526f,-0.6953557133674622f,2.5541324615478516f,-2.3852152824401855f,3.8622140884399414f,-0.27628305554389954f,-0.20555844902992249f,-0.4196912348270416f,-0.5049533843994141f},
-{-1.0910837650299072f,1.5310019254684448f,-0.2540779709815979f,-1.699008584022522f,-2.7678186893463135f,0.042158763855695724f,0.06107431650161743f,-0.8498121500015259f,0.947952926158905f,3.5080132484436035f,4.094943046569824f,1.3560343980789185f,-0.18150930106639862f,0.7762811183929443f,-0.15860587358474731f,-0.04692316800355911f},
-{0.021252449601888657f,-1.7117400169372559f,-0.2703247666358948f,-0.3658110499382019f,-0.7817240357398987f,0.3258049786090851f,-0.18203827738761902f,-0.5964152812957764f,-0.1708083301782608f,3.059142827987671f,0.6971661448478699f,-1.2719084024429321f,0.3709676265716553f,0.30348724126815796f,0.0436977744102478f,-0.03584130480885506f},
-{0.8466247916221619f,-1.7367573976516724f,0.10406997799873352f,-0.3620944023132324f,0.5412198901176453f,0.6309167146682739f,-0.07359349727630615f,-0.4533679187297821f,-0.784812331199646f,1.6026686429977417f,-1.393445611000061f,-0.8037490248680115f,0.22625578939914703f,0.26414215564727783f,-0.31029027700424194f,-0.14219065010547638f},
-{0.2616613805294037f,-1.2834594249725342f,0.18748918175697327f,0.006672881077975035f,0.7052662968635559f,0.3891584575176239f,-0.3036908507347107f,-0.04314374551177025f,-0.39671164751052856f,-0.029073715209960938f,-0.9029676914215088f,-0.8100889921188354f,0.37156444787979126f,-0.147613987326622f,0.35390153527259827f,-0.3667701482772827f},
-{0.2742692530155182f,-0.18266388773918152f,0.3775894343852997f,0.2890429198741913f,0.2838522493839264f,0.026181545108556747f,-0.20654654502868652f,0.025287557393312454f,-0.5715938806533813f,0.09734179824590683f,-0.40069374442100525f,-0.7974845767021179f,-0.07399006187915802f,0.16150778532028198f,0.2710213363170624f,-0.6254599094390869f},
-{-0.4190559983253479f,-0.13637374341487885f,-0.40945154428482056f,0.04590035229921341f,0.3266812860965729f,-0.28913336992263794f,0.15575703978538513f,0.332510769367218f,-0.14208796620368958f,0.4671242833137512f,-0.7784496545791626f,0.04069240391254425f,0.1405734419822693f,0.17514710128307343f,0.10656675696372986f,-0.28767532110214233f},
-{-0.1321425586938858f,0.10860586166381836f,0.2015570104122162f,0.3104243874549866f,0.4348571002483368f,-0.03878514841198921f,-0.24415965378284454f,0.010409981943666935f,-0.16880515217781067f,0.0960438922047615f,-0.218440443277359f,-0.2751259207725525f,0.08706702291965485f,0.1684483289718628f,-0.22613362967967987f,-0.5390941500663757f},
-{-0.07273829728364944f,-0.0028251938056200743f,0.41918185353279114f,0.21951936185359955f,-0.040497999638319016f,-0.3893090784549713f,-0.32497477531433105f,-0.5081345438957214f,-0.15358509123325348f,-0.06052562594413757f,-0.2989772856235504f,-0.008403073064982891f,-0.3239504396915436f,0.08852782845497131f,0.04871204495429993f,-0.030978143215179443f},
-{-0.1294948160648346f,0.2567782402038574f,0.20596781373023987f,0.21820449829101562f,0.14234144985675812f,-0.2349168062210083f,0.042680561542510986f,0.04373318701982498f,0.34865522384643555f,0.06248260661959648f,-0.023645654320716858f,-0.23440442979335785f,0.09878566116094589f,0.16271169483661652f,0.06784489750862122f,0.04550747200846672f},
-{-0.35847118496894836f,-0.5122860670089722f,-0.4106670916080475f,0.13450637459754944f,-0.2616882920265198f,-0.7916378378868103f,-0.15809619426727295f,-0.2441980242729187f,0.13642601668834686f,-0.29386720061302185f,-0.7606335282325745f,0.42109808325767517f,-0.28163331747055054f,0.29003897309303284f,-0.08373728394508362f,0.08965898305177689f},
+    {-0.7107096910476685f,0.5748042464256287f,0.1331346035003662f,-0.3472170829772949f,-1.0555211305618286f,1.4034713506698608f,-0.18027740716934204f,-0.4855819046497345f,-0.20866943895816803f,-1.9396588802337646f,0.19308307766914368f,-1.0236271619796753f,-0.2692645788192749f,-1.6421189308166504f,-0.26532530784606934f,-1.6460516452789307f},
+{-0.3166443407535553f,0.37179794907569885f,-0.4052582383155823f,-0.04261920601129532f,-0.5801109671592712f,0.7438966631889343f,-0.4182741641998291f,-1.070746898651123f,-0.009645428508520126f,-1.2099772691726685f,-0.529838502407074f,-0.3876437842845917f,0.24623174965381622f,-2.647522449493408f,-0.21633580327033997f,-0.25429075956344604f},
+{-0.8552024960517883f,0.8861677050590515f,0.3754674196243286f,-0.8698447346687317f,-0.655875563621521f,1.1211286783218384f,0.2963334321975708f,0.024058960378170013f,0.004207349382340908f,-0.9657742381095886f,-0.10435186326503754f,-0.7742842435836792f,0.00044973072363063693f,-1.305156946182251f,0.05767732858657837f,-0.5994040966033936f},
+{-1.2889316082000732f,1.011116862297058f,0.4100407361984253f,-0.8771803975105286f,-0.9098381996154785f,0.68509840965271f,-0.11952415108680725f,1.734102487564087f,0.28687670826911926f,-0.2261476367712021f,1.2308095693588257f,-0.6753180027008057f,-0.16679362952709198f,0.7073665857315063f,-0.3055497407913208f,-0.5141171216964722f},
+{-0.15122489631175995f,0.41318944096565247f,-0.005308479070663452f,-0.5509499907493591f,-0.09470018744468689f,-0.2180773764848709f,0.1335124969482422f,1.7583210468292236f,0.19842270016670227f,0.9754910469055176f,1.4297466278076172f,-0.1669011116027832f,-0.06724929064512253f,2.9021966457366943f,-0.39877864718437195f,-0.04117067530751228f},
+{3.318035364151001f,-3.2440054416656494f,0.22464686632156372f,2.7212905883789062f,3.258376121520996f,-3.7212142944335938f,0.17038583755493164f,-1.9575566053390503f,-0.26509812474250793f,3.351072311401367f,-2.2606804370880127f,3.22605562210083f,-0.2700563967227936f,2.0248615741729736f,-0.42640674114227295f,3.0299110412597656f},
+{-1.839550256729126f,0.743869423866272f,-0.25814348459243774f,-3.041593551635742f,-2.0454094409942627f,0.6462511420249939f,0.062051594257354736f,1.7397657632827759f,1.430230975151062f,3.1958296298980713f,3.4760305881500244f,-1.3133124113082886f,-0.182450070977211f,5.020411491394043f,-0.16114374995231628f,0.17034372687339783f},
+{0.6584609150886536f,-1.0038152933120728f,-0.2746502459049225f,1.0311936140060425f,0.019197814166545868f,-0.9970395565032959f,-0.18495109677314758f,-2.9535651206970215f,0.10813623666763306f,4.2084150314331055f,-0.01593662239611149f,0.5004336833953857f,0.37967556715011597f,-0.9130421280860901f,0.04439696669578552f,-0.09382707625627518f},
+{0.3895723521709442f,-0.0030134194530546665f,0.105735182762146f,0.6469439268112183f,-0.06099357828497887f,0.04842674732208252f,-0.07477107644081116f,-1.7170462608337402f,-0.5312995314598083f,1.1699137687683105f,-0.8609651923179626f,0.49720850586891174f,0.23342889547348022f,-1.3745323419570923f,-0.31525522470474243f,-1.208768606185913f},
+{-0.05031483992934227f,-0.6435171961784363f,0.19048917293548584f,0.4463956952095032f,0.15471532940864563f,-0.002435207599774003f,-0.30855023860931396f,-0.7755460143089294f,-0.23457880318164825f,-0.20801405608654022f,-0.5772057771682739f,-0.44403669238090515f,0.381221204996109f,-0.1106160581111908f,0.35956430435180664f,-1.150540828704834f},
+{0.21932409703731537f,-0.15730774402618408f,0.38363122940063477f,0.2351817786693573f,-0.1871233582496643f,-0.01937558315694332f,-0.20985150337219238f,-0.11008226126432419f,-0.6354061365127563f,-0.683839738368988f,-0.13569213449954987f,-0.4661896824836731f,-0.07176927477121353f,0.21223489940166473f,0.2753579616546631f,-1.1578141450881958f},
+{-0.34123319387435913f,-0.5856785178184509f,-0.41600319743156433f,0.06370597332715988f,0.13166840374469757f,-0.2644786238670349f,0.15824931859970093f,0.08150170743465424f,-0.40871983766555786f,-0.3228833079338074f,-0.8897232413291931f,0.20386344194412231f,0.14613376557826996f,-0.008566160686314106f,0.10827195644378662f,-0.4468332827091217f},
+{-0.052340418100357056f,-0.23061873018741608f,0.2047821283340454f,0.22683338820934296f,0.2552613615989685f,0.02660255692899227f,-0.24806645512580872f,-0.09685809910297394f,-0.45292937755584717f,-0.22743451595306396f,-0.34933555126190186f,-0.27536541223526f,0.09192687273025513f,-0.0028655955102294683f,-0.22975200414657593f,-0.709994912147522f},
+{-0.17850808799266815f,-0.36447224020957947f,0.42588919401168823f,0.09280404448509216f,-0.3457636535167694f,-0.33955615758895874f,-0.3301747143268585f,-0.2679907977581024f,-0.41200390458106995f,-0.16191090643405914f,-0.387783408164978f,-0.2718203663825989f,-0.32551702857017517f,0.002818679204210639f,0.04949149489402771f,-0.5213664174079895f},
+{-0.07672131061553955f,-1.0163432359695435f,0.20926350355148315f,0.20689204335212708f,0.0508851632475853f,-0.19116075336933136f,0.043363481760025024f,0.3114475607872009f,-0.0352475568652153f,-0.4374855160713196f,-0.6171332001686096f,-0.8803253173828125f,0.1041073426604271f,-0.050098564475774765f,0.06893044710159302f,-1.505090355873108f},
 };
 
 const float h2[16][16] = {
-    {0.3930434584617615f,-0.2760046422481537f,-0.06966331601142883f,0.5573797225952148f,-0.21907491981983185f,3.0837783813476562f,-0.03645731136202812f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.5400919914245605f,-0.3574032187461853f,0.0677378922700882f,-3.8898062705993652f,-0.21618182957172394f,0.11639698594808578f},
-{1.1674503087997437f,-0.4660412669181824f,0.057057321071624756f,-0.3536809980869293f,-0.35503754019737244f,-0.9374600052833557f,-0.5618715286254883f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,0.6180537343025208f,-0.75235515832901f,0.1972428262233734f,0.28802400827407837f,-0.5070251822471619f,0.6845030784606934f},
+    {-0.05609544739127159f,-0.38644102215766907f,-0.06966331601142883f,2.8726747035980225f,-0.21907491981983185f,1.0402798652648926f,0.0787314921617508f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.13463903963565826f,-0.6863351464271545f,0.004113723989576101f,-1.78252375125885f,-0.2182036191225052f,1.3725275993347168f},
+{-0.05584848299622536f,-0.5299791097640991f,0.057057321071624756f,-0.7371286749839783f,-0.35503754019737244f,0.5259296298027039f,-0.5525034070014954f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.5631104111671448f,-0.7347442507743835f,0.21366164088249207f,0.5616945028305054f,-0.5259544253349304f,0.16951774060726166f},
 {-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},
-{-0.017540471628308296f,-0.3439796566963196f,-0.2894435524940491f,0.36640626192092896f,0.08946844935417175f,-0.33021655678749084f,-0.5845211148262024f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,-0.053512122482061386f,0.04363805800676346f,-0.5480604767799377f,-0.6265043020248413f,0.0729166567325592f,0.27252864837646484f},
-{1.785760521888733f,0.6541135311126709f,-0.25313520431518555f,0.44530224800109863f,0.036378175020217896f,1.108391523361206f,-0.5546870827674866f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.25993049144744873f,-0.7607472538948059f,-0.1258891373872757f,-1.8423455953598022f,-0.4726662039756775f,1.5968234539031982f},
-{0.35434088110923767f,0.07735256105661392f,-0.3519742488861084f,0.0787750780582428f,-0.3015052080154419f,-0.020565737038850784f,-0.7396655678749084f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.6316982507705688f,-0.28874123096466064f,-0.35083094239234924f,2.651024341583252f,0.0053144171833992004f,-0.41491958498954773f},
+{0.07704363018274307f,-0.4680996537208557f,-0.2894435524940491f,0.4993690550327301f,0.08946844935417175f,0.15898147225379944f,-0.44716790318489075f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,-0.21996113657951355f,-0.19403861463069916f,-0.5333842039108276f,-2.6269991397857666f,0.09325726330280304f,0.5271802544593811f},
+{-0.14338722825050354f,0.1457262635231018f,-0.25313520431518555f,1.5323469638824463f,0.036378175020217896f,1.1596163511276245f,-0.46772268414497375f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.5288034677505493f,-1.1926617622375488f,-0.02286139316856861f,0.13278329372406006f,-0.4184599816799164f,2.064659595489502f},
+{0.29662686586380005f,0.1254667490720749f,-0.3519742488861084f,-2.6433229446411133f,-0.3015052080154419f,0.524383008480072f,-0.5562416911125183f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.0675867348909378f,-0.3388383090496063f,-0.3332999646663666f,-0.5591659545898438f,0.13293559849262238f,2.4991962909698486f},
 {-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},
-{0.3322710394859314f,0.45431244373321533f,0.33083590865135193f,0.05937234312295914f,-0.14358049631118774f,-0.18344715237617493f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.24461591243743896f,-0.31911081075668335f,-0.31673234701156616f,0.19626884162425995f,-0.04439463093876839f,0.45424115657806396f},
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 };
 
 const float h3[16][16] = {
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-{0.047732532024383545f,0.3565322756767273f,-0.46046897768974304f,-0.20793941617012024f,-0.6533023715019226f,0.23362523317337036f,-0.3198729455471039f,0.06247803568840027f,1.70857834815979f,-0.0621853806078434f,0.4144817292690277f,-0.3128277659416199f,0.15687963366508484f,0.5943896174430847f,0.22744028270244598f,-1.0002206563949585f},
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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},
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+{0.1863725483417511f,0.16727414727210999f,-0.21832649409770966f,-6.15080451965332f,-0.19656047224998474f,-0.4116034507751465f,0.04860696196556091f,0.04096611589193344f,-1.0076631307601929f,0.24256081879138947f,-0.3929237127304077f,-0.0822499692440033f,1.4070152044296265f,-0.7986724376678467f,-0.5050287246704102f,0.893261730670929f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.26064226031303406f,-0.17057237029075623f,-0.5469655990600586f,-0.2567388415336609f,0.3050605058670044f,-0.13290652632713318f,0.031939368695020676f,-0.12028782069683075f,0.024037769064307213f,0.2350914627313614f,0.05371606722474098f,-0.265004962682724f,0.25206753611564636f,0.1956772357225418f,-0.3114655911922455f };
-
-const float b1[16] = { 0.5379201173782349f,1.84296715259552f,-1.7145336866378784f,0.22539174556732178f,1.0134121179580688f,0.266745001077652f,-0.058932315558195114f,0.8392517566680908f,0.23837706446647644f,-3.764920949935913f,0.3289794325828552f,1.4759081602096558f,-0.37845921516418457f,-1.3195053339004517f,-1.087764859199524f,0.8869392275810242f };
-
-const float b2[16] = { -0.13295456767082214f,-0.8680578470230103f,-1.4564176797866821f,-0.7611050009727478f,-0.6939148902893066f,0.37466126680374146f,0.08869245648384094f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.6145949363708496f,0.16012702882289886f,-0.41398656368255615f,1.9892641305923462f,-0.06826551258563995f,1.1559383869171143f };
-
-const float b3[16] = { -1.963319182395935f,-0.6572089791297913f,0.4422910213470459f,-0.13730330765247345f,-1.0939308404922485f,-0.1729484647512436f,-0.544198751449585f,-0.8099983930587769f,-0.5853098034858704f,-0.0038378052413463593f,-0.2999548017978668f,-0.2378028780221939f,-0.24946801364421844f,0.8335348963737488f,0.03452490642666817f,1.6327775716781616f };
-
-const float bout[1] = { -0.2027367651462555f };
+const float hout[16] = { 0.45773375034332275f,0.11496491730213165f,0.02869349531829357f,-0.14814786612987518f,-0.045156948268413544f,0.15993131697177887f,0.0030125975608825684f,-0.00026414694730192423f,0.2589924931526184f,0.01784598082304001f,0.24303162097930908f,-0.10908975452184677f,-0.2511503994464874f,0.2726236879825592f,0.2428593635559082f,-0.23646877706050873f };
+
+const float b1[16] = { 0.8312101364135742f,1.6546001434326172f,-1.7145336866378784f,0.08073712140321732f,1.3426809310913086f,0.6138241291046143f,-0.058932315558195114f,1.9385660886764526f,0.2135201096534729f,-2.622662305831909f,0.27099642157554626f,1.3350555896759033f,-0.3749246597290039f,-1.1940302848815918f,-1.087764859199524f,3.277304172515869f };
+
+const float b2[16] = { -0.23770350217819214f,-1.0067986249923706f,-1.4564176797866821f,-1.0290534496307373f,-0.6939148902893066f,0.9743399620056152f,0.11889128386974335f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.042900536209344864f,0.09470154345035553f,-0.31811198592185974f,1.689566969871521f,-0.10080983489751816f,0.3293673098087311f };
+
+const float b3[16] = { -1.963319182395935f,-0.43432754278182983f,-0.2351592630147934f,0.9060386419296265f,-0.2977774143218994f,1.0837714672088623f,-0.45353031158447266f,-0.730044960975647f,1.4574902057647705f,-0.14087486267089844f,-0.14371006190776825f,0.4661441445350647f,-1.9257787466049194f,1.134450912475586f,-1.6156606674194336f,0.4693182706832886f };
+
+const float bout[1] = { -0.15797178447246552f };
 
 float valve_ref_pos_buffer[10] = {0.0f};
 
@@ -1038,8 +1037,6 @@
 //            input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
             input_NN[ind] = torq.sen / 10000.0f + 0.5f;
             ind = ind + 1;
-            input_NN[ind] = torq.sen / 10000.0f + 0.5f;
-            ind = ind + 1;
             for(int i=2; 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;