Diff: main.cpp

Revision:

157:27dcc28caf98

Parent:

156:1f45755a3fc7

Child:

158:cb9a6999d5e2

--- a/main.cpp	Sun Oct 11 09:56:20 2020 +0000
+++ b/main.cpp	Sun Oct 11 11:06:30 2020 +0000
@@ -1,4 +1,4 @@
-//201011-3
+//201011-4
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -193,72 +193,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = { 
-   {-0.44977179169654846f,0.3948260247707367f,0.12903714179992676f,1.43081533908844f,-0.6674360632896423f,0.4676388204097748f,-0.17472904920578003f,0.24950629472732544f,-1.3887760639190674f,-0.3396924138069153f,-0.23695291578769684f,0.3578493893146515f,-0.26791033148765564f,0.05157523602247238f,-0.2571594715118408f,-0.9520675539970398f},
-{-0.6527871489524841f,0.5235224366188049f,-0.3927857577800751f,0.5244521498680115f,-0.7207949161529541f,0.31605663895606995f,-0.4054011106491089f,0.17542748153209686f,-0.8479114770889282f,-0.11173147708177567f,-0.27345848083496094f,0.0016560390358790755f,0.2320159673690796f,-0.5408682823181152f,-0.20967772603034973f,-0.3848436176776886f},
-{-0.7848262786865234f,0.5918911695480347f,0.36391180753707886f,-0.6633606553077698f,-0.42500826716423035f,0.43542391061782837f,0.2872133255004883f,0.40289226174354553f,-0.36048445105552673f,-0.15625199675559998f,-0.34707531332969666f,-0.7878936529159546f,-0.005905864294618368f,-0.10855978727340698f,0.05590221285820007f,-0.15942269563674927f},
-{-0.6048231720924377f,0.24274709820747375f,0.39742106199264526f,-0.683943510055542f,-0.16210460662841797f,-0.16492298245429993f,-0.11584559082984924f,0.5424031019210815f,0.4515489637851715f,0.04131592437624931f,0.0970098152756691f,-0.9495071172714233f,-0.16767056286334991f,-0.09117209166288376f,-0.2961459457874298f,0.638372540473938f},
-{0.32700082659721375f,-0.062916100025177f,-0.0051451027393341064f,-0.6812958717346191f,0.38475701212882996f,-0.37981119751930237f,0.1294034719467163f,-0.28653666377067566f,0.8239156603813171f,0.20144544541835785f,0.3492494821548462f,-0.9118066430091858f,-0.07079752534627914f,0.4808136820793152f,-0.3865056037902832f,0.5329561233520508f},
-{1.467099666595459f,-1.6653549671173096f,0.21773302555084229f,0.5316344499588013f,1.5549033880233765f,-1.5732975006103516f,0.16514194011688232f,-1.5386000871658325f,0.7443991303443909f,0.9719954133033752f,-0.24597316980361938f,0.9738253355026245f,-0.2669322192668915f,1.5356324911117554f,-0.4132833778858185f,0.2991514503955841f},
-{0.1617552638053894f,0.04051293805241585f,-0.2501986622810364f,-0.8847792744636536f,-0.43541744351387024f,0.27110418677330017f,0.06014183163642883f,-0.26505136489868164f,0.41542136669158936f,-0.018214726820588112f,0.1484811156988144f,0.8086675405502319f,-0.17443329095840454f,0.3614708185195923f,-0.15618428587913513f,-0.7166149020195007f},
-{-0.21142926812171936f,-0.007899087853729725f,-0.26619744300842285f,-1.337540626525879f,-0.7465472221374512f,0.1029415875673294f,-0.17925891280174255f,-0.08739151805639267f,0.15512296557426453f,-0.09121953696012497f,0.10272832214832306f,-1.0196138620376587f,0.36979132890701294f,-0.0530819445848465f,0.04303058981895447f,0.21607784926891327f},
-{0.1552765816450119f,0.2528732419013977f,0.10248100757598877f,-0.7338165044784546f,-0.3478407561779022f,0.121219702064991f,-0.07246989011764526f,-0.4506078362464905f,-0.5250601768493652f,0.48282405734062195f,-0.29982221126556396f,0.7041445374488831f,0.22746257483959198f,0.32223498821258545f,-0.30555272102355957f,-0.13285504281520844f},
-{-0.05379708111286163f,-0.40932583808898926f,0.18462657928466797f,0.17004311084747314f,0.04318913072347641f,0.20598414540290833f,-0.2990540862083435f,-0.20673829317092896f,-0.46671581268310547f,-0.253440797328949f,-0.010777603834867477f,0.2800823152065277f,0.3705475926399231f,-0.057806868106126785f,0.3484981060028076f,-0.5112036466598511f},
-{0.35640189051628113f,-0.01821262761950493f,0.37182438373565674f,0.8101783394813538f,-0.12120635062456131f,0.05101041495800018f,-0.20339298248291016f,-0.030144330114126205f,-0.9193416833877563f,0.1326439529657364f,0.34590986371040344f,0.2722753882408142f,-0.06831599771976471f,0.056205954402685165f,0.26688337326049805f,-0.8217717409133911f},
-{-0.3712668716907501f,-0.5352869629859924f,-0.40320003032684326f,0.7486341595649719f,0.043638527393341064f,-0.07092852890491486f,0.1533789038658142f,0.3126770853996277f,-0.5642567276954651f,0.2918032705783844f,-0.4166058897972107f,0.6226259469985962f,0.14306935667991638f,0.07773298025131226f,0.10493969917297363f,-0.46420973539352417f},
-{-0.04521137475967407f,-0.32780611515045166f,0.19847965240478516f,0.9109510183334351f,0.2524767518043518f,0.12077868729829788f,-0.2404318004846573f,0.08125817030668259f,-0.4472121000289917f,-0.13385021686553955f,-0.11130273342132568f,0.09301190823316574f,0.09050361812114716f,0.11255117505788803f,-0.22268100082874298f,-0.6180054545402527f},
-{-0.1654268503189087f,-0.2047339826822281f,0.4127817749977112f,0.6474820375442505f,-0.32670924067497253f,-0.2599560022354126f,-0.32001304626464844f,-0.3465961515903473f,-0.27056780457496643f,-0.19953489303588867f,-0.19715598225593567f,0.019440047442913055f,-0.3142251670360565f,0.008192992769181728f,0.0479682981967926f,-0.06206239387392998f},
-{0.09528405219316483f,-0.04510411620140076f,0.20282304286956787f,0.7805988788604736f,0.22455720603466034f,-0.11059501767158508f,0.04202890396118164f,0.2753780782222748f,0.22769597172737122f,0.06734973192214966f,-0.2815541625022888f,-0.3869366943836212f,0.10210978984832764f,-0.05223644897341728f,0.0668090283870697f,0.020562348887324333f},
-{-0.1309649646282196f,-0.3696885108947754f,-0.40439701080322266f,0.604080080986023f,-0.2957131564617157f,0.03649333119392395f,-0.15568238496780396f,-0.022349195554852486f,0.23081500828266144f,0.025447389110922813f,-0.4759751260280609f,-0.21101711690425873f,-0.27259042859077454f,0.0041765933856368065f,-0.08245879411697388f,0.10532893985509872f},
-{-0.11047562211751938f,-0.2355261594057083f,0.16706281900405884f,0.8696852922439575f,-0.09686018526554108f,-0.28514382243156433f,-0.041414469480514526f,-0.08266289532184601f,0.08155593276023865f,0.282812237739563f,-0.35562533140182495f,0.17248709499835968f,0.11064065992832184f,0.4467257857322693f,0.29427415132522583f,-0.04208621755242348f},
+   {-0.41967445611953735f,0.37873345613479614f,0.12903714179992676f,1.566642165184021f,-0.6392889022827148f,0.46405133605003357f,-0.17472904920578003f,0.23627512156963348f,-1.522965908050537f,-0.13737569749355316f,-0.23695562779903412f,0.46054607629776f,-0.26791468262672424f,0.08036390691995621f,-0.2571594715118408f,-0.9128035306930542f},
+{-0.6333914995193481f,0.5187541842460632f,-0.3927857577800751f,0.6224761009216309f,-0.7078897953033447f,0.32257577776908875f,-0.4054011106491089f,0.17311148345470428f,-0.8967714905738831f,0.09137919545173645f,-0.273461252450943f,0.06541208177804947f,0.23201173543930054f,-0.5193482637405396f,-0.20967772603034973f,-0.37620794773101807f},
+{-0.7784690856933594f,0.6019817590713501f,0.36391180753707886f,-0.6322181820869446f,-0.41941067576408386f,0.4507597088813782f,0.2872133255004883f,0.41458404064178467f,-0.25675830245018005f,0.05985170602798462f,-0.3470781147480011f,-0.7762637138366699f,-0.005910140927881002f,-0.09644216299057007f,0.05590221285820007f,-0.20239199697971344f},
+{-0.6094654202461243f,0.2642550766468048f,0.39742106199264526f,-0.7088627815246582f,-0.15601298213005066f,-0.14365658164024353f,-0.11584559082984924f,0.5648146271705627f,0.7046627998352051f,0.27347198128700256f,0.09700702130794525f,-0.9800194501876831f,-0.16767489910125732f,-0.08512844890356064f,-0.2961459457874298f,0.5443597435951233f},
+{0.325019896030426f,-0.046085916459560394f,-0.0051451027393341064f,-0.6876339912414551f,0.39472496509552f,-0.36281618475914f,0.1294034719467163f,-0.2687367796897888f,1.096472978591919f,0.4311322867870331f,0.3492468595504761f,-0.9326401352882385f,-0.07080186158418655f,0.4954993426799774f,-0.3865056037902832f,0.42471370100975037f},
+{1.496168851852417f,-1.6847341060638428f,0.21773302555084229f,0.6817849278450012f,1.5735235214233398f,-1.5806689262390137f,0.16514194011688232f,-1.5561888217926025f,0.7980576157569885f,1.1625641584396362f,-0.2459760159254074f,1.0646815299987793f,-0.26693665981292725f,1.58890700340271f,-0.4132833778858185f,0.23588962852954865f},
+{0.15149545669555664f,0.06852209568023682f,-0.2501986622810364f,-0.8095498085021973f,-0.4693104922771454f,0.27921709418296814f,0.06014183163642883f,-0.2782285809516907f,0.4420543313026428f,-0.24211812019348145f,0.14847882091999054f,0.7758012413978577f,-0.17443716526031494f,0.39317256212234497f,-0.15618428587913513f,-0.7309704422950745f},
+{-0.21604697406291962f,0.005178035702556372f,-0.26619744300842285f,-1.3523588180541992f,-0.7772549390792847f,0.11216655373573303f,-0.17925891280174255f,-0.08405250310897827f,0.09736985713243484f,-0.3568475842475891f,0.10272607952356339f,-0.993890106678009f,0.36978718638420105f,-0.06344763934612274f,0.04303058981895447f,0.18944784998893738f},
+{0.1601627618074417f,0.24917300045490265f,0.10248100757598877f,-0.7002090215682983f,-0.3756590485572815f,0.1263592541217804f,-0.07246989011764526f,-0.46026411652565f,-0.6350913047790527f,0.245502769947052f,-0.29982441663742065f,0.7031681537628174f,0.22745831310749054f,0.3247081935405731f,-0.30555272102355957f,-0.12139333039522171f},
+{-0.06395617127418518f,-0.41653573513031006f,0.18462657928466797f,0.13104702532291412f,0.019108425825834274f,0.219625324010849f,-0.2990540862083435f,-0.20161409676074982f,-0.44463133811950684f,-0.4351271390914917f,-0.01077987626194954f,0.19068361818790436f,0.3705434799194336f,-0.07129542529582977f,0.3484981060028076f,-0.4833911955356598f},
+{0.3339501917362213f,-0.026471704244613647f,0.37182438373565674f,0.6991376280784607f,-0.13665160536766052f,0.0677790641784668f,-0.20339298248291016f,-0.015070509165525436f,-0.7672253847122192f,-0.008873549290001392f,0.34590768814086914f,0.11151141673326492f,-0.068320132791996f,0.03213067725300789f,0.26688337326049805f,-0.8018009662628174f},
+{-0.3759828507900238f,-0.5480061769485474f,-0.40320003032684326f,0.6892357468605042f,0.043409690260887146f,-0.08076421171426773f,0.1533789038658142f,0.30701515078544617f,-0.4441049098968506f,0.15295711159706116f,-0.41660815477371216f,0.4870837926864624f,0.1430651843547821f,0.07823658734560013f,0.10493969917297363f,-0.45909836888313293f},
+{-0.05031634122133255f,-0.334393709897995f,0.19847965240478516f,0.8851298093795776f,0.2558566629886627f,0.09873975813388824f,-0.2404318004846573f,0.06932129710912704f,-0.34938523173332214f,-0.2741842567920685f,-0.11130498349666595f,-0.0031882869079709053f,0.09049945324659348f,0.12110336124897003f,-0.22268100082874298f,-0.6294573545455933f},
+{-0.17898592352867126f,-0.20976175367832184f,0.4127817749977112f,0.6296868920326233f,-0.3222833275794983f,-0.28206732869148254f,-0.32001304626464844f,-0.3587503433227539f,-0.1776779741048813f,-0.32038018107414246f,-0.19715821743011475f,-0.05108601599931717f,-0.3142296373844147f,0.015666889026761055f,0.0479682981967926f,-0.07511270046234131f},
+{0.07588732987642288f,-0.05007550120353699f,0.20282304286956787f,0.7566778659820557f,0.22830183804035187f,-0.13325732946395874f,0.04202890396118164f,0.2626529633998871f,0.3084530234336853f,-0.036667197942733765f,-0.28155654668807983f,-0.4388772249221802f,0.10210557281970978f,-0.04867098852992058f,0.0668090283870697f,0.015623959712684155f},
+{-0.15067312121391296f,-0.3757985234260559f,-0.40439701080322266f,0.5455164313316345f,-0.28818508982658386f,0.003979508765041828f,-0.15568238496780396f,-0.033903513103723526f,0.3205355703830719f,-0.08129708468914032f,-0.4759772717952728f,-0.24516192078590393f,-0.2725945711135864f,0.00021956076670903713f,-0.08245879411697388f,0.10284788906574249f},
+{-0.12781251966953278f,-0.2527187466621399f,0.16706281900405884f,0.7601931691169739f,-0.07666818797588348f,-0.32746684551239014f,-0.041414469480514526f,-0.09359852969646454f,0.1859569549560547f,0.1608126014471054f,-0.3556275963783264f,0.1622852236032486f,0.11063656210899353f,0.43013104796409607f,0.29427415132522583f,-0.045867811888456345f},
 };
 
 const float h2[16][16] = { 
-    {-1.7421740293502808f,0.1713748276233673f,-0.06966331601142883f,0.24026523530483246f,-0.21907491981983185f,1.5894222259521484f,0.19252325594425201f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.484993577003479f,-0.1661585122346878f,0.04025467112660408f,-1.1808747053146362f,-1.2809491157531738f,1.2215025424957275f},
-{0.857425332069397f,-0.7594625949859619f,0.057057321071624756f,-2.0878679752349854f,-0.35503754019737244f,-0.9062365293502808f,-0.4643614590167999f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.3635025918483734f,-0.617518961429596f,0.2550946772098541f,1.2984843254089355f,-0.9429086446762085f,-1.7327934503555298f},
+    {-1.7450275421142578f,0.6594358086585999f,-0.06966331601142883f,1.0018938779830933f,-0.21907491981983185f,1.4329339265823364f,0.17326709628105164f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.2144904136657715f,-0.16626611351966858f,0.06569504737854004f,-1.4385911226272583f,-0.9663553833961487f,0.6428185701370239f},
+{0.9441719055175781f,-0.6133332848548889f,0.057057321071624756f,-2.3481781482696533f,-0.35503754019737244f,-0.5006313323974609f,-0.5688151121139526f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.17320112884044647f,-0.6180256009101868f,0.28006717562675476f,1.3375060558319092f,-1.2240221500396729f,-0.9773128628730774f},
 {-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},
-{0.2607560455799103f,-0.792138934135437f,-0.2894435524940491f,1.1702380180358887f,0.08946844935417175f,0.5874935388565063f,-0.36271578073501587f,0.31858542561531067f,0.26211628317832947f,0.2953031361103058f,0.752203106880188f,0.017762484028935432f,-0.5025846362113953f,-0.5740835666656494f,0.5950527191162109f,-0.14014430344104767f},
-{-0.9972448348999023f,0.2791528105735779f,-0.25313520431518555f,-0.29517969489097595f,0.036378175020217896f,0.0928143560886383f,-0.2973571717739105f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-1.0648390054702759f,-0.8243517279624939f,-0.0033850334584712982f,0.026878701522946358f,-0.4269058406352997f,0.9963157773017883f},
-{0.7366743087768555f,0.6123780608177185f,-0.3519742488861084f,0.28013598918914795f,-0.3015052080154419f,-0.35189536213874817f,-0.6043102145195007f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.55316561460495f,-0.3961637020111084f,-0.29346275329589844f,-0.2561824917793274f,0.3981303870677948f,0.007490553893148899f},
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+{-0.8707475662231445f,-0.37293922901153564f,-0.25313520431518555f,-0.5010871887207031f,0.036378175020217896f,-0.10144466906785965f,-0.3463951349258423f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-1.0185232162475586f,-0.8256206512451172f,0.01429042499512434f,0.05815858766436577f,-0.263293981552124f,0.6209697127342224f},
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 };
 
 const float h3[16][16] = { 
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+{0.15459725260734558f,0.6121587753295898f,-0.10544931143522263f,-0.25203073024749756f,-0.2231951653957367f,0.13362735509872437f,-0.08742031455039978f,-0.03930879756808281f,-1.4814172983169556f,-0.4569486081600189f,-0.14795783162117004f,-0.4531753361225128f,0.4007773697376251f,0.2852712869644165f,0.6529788374900818f,0.6810508966445923f},
+{-0.408692330121994f,-0.022918520495295525f,-0.04249764606356621f,0.0922636091709137f,0.002093099756166339f,-0.05760917812585831f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4424359202384949f,-0.15407375991344452f,-0.04745611920952797f,0.26415717601776123f},
+{-0.2991822361946106f,0.303905189037323f,-0.004639551043510437f,-0.05932474136352539f,0.16026899218559265f,0.1668272763490677f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.0903378576040268f,-0.20887143909931183f,0.2735307514667511f,-0.08162670582532883f},
+{-0.2675279378890991f,0.12590810656547546f,0.5464115738868713f,0.8258691430091858f,0.15767315030097961f,-0.5702950358390808f,-0.32875844836235046f,-0.8522011637687683f,-1.0272672176361084f,-0.8078951835632324f,-0.6629264950752258f,-0.5638532042503357f,0.5660436153411865f,-1.0929996967315674f,0.12581373751163483f,0.40782439708709717f},
+{-0.015470266342163086f,-0.866274893283844f,-0.9573094844818115f,1.2356902360916138f,0.12651090323925018f,-0.17940779030323029f,0.05196094512939453f,0.0014051093021407723f,-1.7678248882293701f,-0.5168593525886536f,0.016171149909496307f,-0.26066750288009644f,-0.4211776852607727f,-0.10415491461753845f,-0.5754392147064209f,-0.19049833714962006f},
+{0.1863725483417511f,0.32354286313056946f,-0.38660678267478943f,-1.7444146871566772f,-0.005540256388485432f,0.3640917241573334f,0.04860696196556091f,0.2542523741722107f,0.33287128806114197f,-0.0597095862030983f,-0.2354220449924469f,0.04612954333424568f,0.4137362241744995f,0.47443336248397827f,0.8190362453460693f,0.15929652750492096f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.13818097114562988f,-0.16457362473011017f,-0.3320411443710327f,0.8004054427146912f,0.2612323462963104f,0.0030125975608825684f,-0.0019201530376449227f,0.052954092621803284f,-0.0872618779540062f,0.5991276502609253f,-0.20054621994495392f,-0.13570716977119446f,0.24903325736522675f,0.3348066508769989f,-0.28674229979515076f };
+const float hout[16] = { 0.45773375034332275f,0.14406298100948334f,-0.16325463354587555f,-0.3499206304550171f,-0.05763477459549904f,0.2833484411239624f,0.0030125975608825684f,-0.2193453311920166f,-0.4651484787464142f,-0.0813288539648056f,-0.0419515036046505f,-0.19638599455356598f,-0.1701335608959198f,0.313700795173645f,0.6517387628555298f,-0.3140295445919037f };
 
-const float b1[16] = { 0.8083637356758118f,0.980291485786438f,-1.7145336866378784f,-1.1434640884399414f,1.0065597295761108f,0.8613038063049316f,-0.058932315558195114f,0.9640621542930603f,0.9145992994308472f,-1.0353655815124512f,0.569646418094635f,0.6866811513900757f,-0.37313881516456604f,-0.8154466152191162f,-1.087764859199524f,1.2594672441482544f };
+const float b1[16] = { 0.8082537055015564f,0.9799144864082336f,-1.7145336866378784f,-1.201467752456665f,0.99372798204422f,0.8597941994667053f,-0.058932315558195114f,0.9624421000480652f,0.9239979386329651f,-1.3699034452438354f,0.569644033908844f,0.7587047815322876f,-0.3731427490711212f,-0.8243913650512695f,-1.087764859199524f,1.2334092855453491f };
 
-const float b2[16] = { 0.09094645828008652f,-0.33251744508743286f,-1.4564176797866821f,-0.576445996761322f,-0.6939148902893066f,0.1210879310965538f,0.2700756788253784f,-0.38606661558151245f,-1.20063054561615f,-1.912178635597229f,-0.09240054339170456f,0.3205389678478241f,-0.16828812658786774f,1.7857381105422974f,0.1792900264263153f,1.1057268381118774f };
+const float b2[16] = { 0.11195981502532959f,-0.34755972027778625f,-1.4564176797866821f,-0.5582992434501648f,-0.6939148902893066f,0.1437792181968689f,0.20352868735790253f,-0.4659985303878784f,-1.20063054561615f,-1.912178635597229f,-0.029022980481386185f,0.3200061023235321f,-0.14512069523334503f,1.7345308065414429f,0.23449550569057465f,1.0539621114730835f };
 
-const float b3[16] = { -1.963319182395935f,-0.17125099897384644f,0.344965398311615f,0.003842052537947893f,-0.27836036682128906f,0.6057872176170349f,-0.45353031158447266f,-0.8039575219154358f,0.3511795103549957f,0.23721596598625183f,-0.24481096863746643f,-0.10274472832679749f,-0.5251089930534363f,-0.15920209884643555f,-1.0943777561187744f,-0.23026812076568604f };
+const float b3[16] = { -1.963319182395935f,-0.2532646059989929f,0.431701123714447f,-0.014838264323771f,0.22273066639900208f,0.5371143221855164f,-0.45353031158447266f,-0.7511880993843079f,0.45858776569366455f,0.13629966974258423f,-0.4316782057285309f,-0.10128767043352127f,-0.5259893536567688f,-0.9015762209892273f,-1.2589377164840698f,-0.28984659910202026f };
 
-const float bout[1] = { -0.3709811866283417f };
+const float bout[1] = { -0.43219244480133057f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;