Diff: main.cpp

Revision:

247:87a44e8b3392

Parent:

246:d483d039ca55

Child:

248:c925c863ea87

--- a/main.cpp	Wed Jan 06 04:31:20 2021 +0000
+++ b/main.cpp	Fri Jan 08 01:27:29 2021 +0000
@@ -1,4 +1,4 @@
-//210106_4  500Hz   num_input 12    210105 data
+//210108_1  500Hz   num_input 11    210105 data
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -199,66 +199,66 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = {
-    {0.17958179116249084f,-0.04240188002586365f,0.006034236866980791f,-0.221439927816391f,-0.1701967865228653f,-0.4843500852584839f,-0.327612966299057f,-0.38140514492988586f,-0.24118416011333466f,-2.0342297554016113f,-0.4474838972091675f,0.182233065366745f,-0.07394298911094666f,0.15372516214847565f,-0.5738809108734131f,0.41910025477409363f},
-{-0.13663026690483093f,-0.17034339904785156f,-0.505244255065918f,-0.18086491525173187f,0.27973324060440063f,0.08476945012807846f,-0.454378217458725f,-0.23875154554843903f,0.07920899987220764f,-1.0418452024459839f,-0.3546728193759918f,-0.33462417125701904f,-0.470501571893692f,-0.3497585654258728f,-0.4295664429664612f,0.38090988993644714f},
-{-0.2616637349128723f,0.2715362012386322f,0.11061228811740875f,-0.049712538719177246f,0.33446288108825684f,0.20204780995845795f,-0.36349689960479736f,0.3688911199569702f,-0.31277671456336975f,-0.8215123414993286f,-0.08787065744400024f,-0.3989328444004059f,0.3128615915775299f,-0.2449539303779602f,-0.3281116783618927f,0.3294149935245514f},
-{0.17975585162639618f,-0.06140896677970886f,0.3280285596847534f,-0.4180477559566498f,0.24598084390163422f,0.2129925787448883f,0.31618329882621765f,0.34586048126220703f,0.3941290080547333f,-0.9906793832778931f,-0.005607783794403076f,-0.46453559398651123f,0.35961928963661194f,-1.0205261707305908f,-0.12470138072967529f,-0.35264861583709717f},
-{-0.4245941638946533f,-0.25384438037872314f,0.49728941917419434f,-0.0833565890789032f,-0.10983119904994965f,-0.28237199783325195f,0.23235633969306946f,0.1686479151248932f,0.45442262291908264f,0.22290197014808655f,-0.4178416132926941f,0.17834660410881042f,-0.1668587028980255f,-1.1557658910751343f,0.4386714696884155f,0.36624616384506226f},
-{0.22955767810344696f,0.052053600549697876f,0.36206480860710144f,-0.2569443881511688f,0.40751034021377563f,-0.15801949799060822f,0.44667890667915344f,0.3191206455230713f,-0.20778316259384155f,2.245435953140259f,-0.2823447585105896f,-0.3264654278755188f,-0.20842257142066956f,-1.6384838819503784f,0.8415021300315857f,0.2748992145061493f},
-{0.311470091342926f,-0.1932627558708191f,-1.2633849382400513f,-0.30763253569602966f,-0.7120758295059204f,-0.08423300087451935f,0.349816232919693f,-0.6385902166366577f,0.4183693826198578f,-2.3064849376678467f,0.3213910758495331f,0.36403366923332214f,-0.3816591501235962f,1.8948888778686523f,-2.072500467300415f,-1.3153260946273804f},
-{-0.06539730727672577f,-0.12553253769874573f,-1.1188851594924927f,0.2474658042192459f,-0.3314621150493622f,-0.023833077400922775f,-0.12525120377540588f,-0.655504584312439f,-0.4302884340286255f,-1.4577856063842773f,-0.07813754677772522f,-0.45890241861343384f,-0.25786811113357544f,1.5043410062789917f,-1.388866901397705f,-0.4735736548900604f},
-{-0.2886306941509247f,-0.24350808560848236f,-0.9309620261192322f,-0.1380021870136261f,-0.5939037203788757f,0.09553308039903641f,0.36275312304496765f,-0.07287690043449402f,-0.24274887144565582f,0.04862043634057045f,0.11128035187721252f,0.16030797362327576f,-0.1772099733352661f,-0.3249896764755249f,0.15046773850917816f,-0.5630593299865723f},
-{-0.04409542679786682f,-0.0033446550369262695f,-0.5614001750946045f,0.3355940878391266f,-0.43958982825279236f,-0.14973217248916626f,-0.36208683252334595f,-0.22287395596504211f,0.3304477035999298f,0.5311539173126221f,-0.422980934381485f,-0.4016188979148865f,-0.09530887007713318f,-0.4136705994606018f,0.16326206922531128f,-0.6383588314056396f},
-{-0.06942542642354965f,-0.3122544288635254f,-0.2772074341773987f,0.3908238708972931f,-0.7278497815132141f,-0.8595213890075684f,0.28198525309562683f,-0.0052377209067344666f,-0.2356695532798767f,3.927525043487549f,0.3545668423175812f,-0.08922263979911804f,-0.10360953211784363f,-1.7213302850723267f,2.0913679599761963f,-0.520579993724823f},
+    {-0.22125771641731262f,-0.20149800181388855f,0.0027648210525512695f,-0.040633171796798706f,-0.33870309591293335f,0.5039791464805603f,0.4283348023891449f,-0.020259398967027664f,-0.49339404702186584f,-0.457051545381546f,0.3023037016391754f,0.14240548014640808f,0.38260337710380554f,0.07648709416389465f,0.25061270594596863f,0.4346548914909363f},
+{-0.45471563935279846f,-0.426307737827301f,0.25498631596565247f,-0.33093705773353577f,0.2810452878475189f,0.48308274149894714f,0.09251320362091064f,0.01341761089861393f,-0.1985822319984436f,-0.31184542179107666f,-0.13703086972236633f,-0.11970256268978119f,-0.34795886278152466f,0.18582287430763245f,0.053159743547439575f,0.25227802991867065f},
+{0.2655332684516907f,-0.36230623722076416f,-0.0873492956161499f,0.20789030194282532f,0.15606650710105896f,0.3862718343734741f,0.31303977966308594f,-0.39543724060058594f,-0.4360908567905426f,-0.19157305359840393f,-0.1976434290409088f,-0.2589569687843323f,-0.43392854928970337f,-0.18181362748146057f,-0.03188011050224304f,-0.28325870633125305f},
+{-0.5763100385665894f,-0.19078776240348816f,-0.2964740991592407f,0.16519340872764587f,-0.3458026647567749f,0.3251499831676483f,-0.12343453615903854f,-0.2686890661716461f,-0.2988907992839813f,-0.022961050271987915f,-0.06522849202156067f,-0.3586931526660919f,-0.06939810514450073f,-0.05800238251686096f,-0.20396962761878967f,0.1856376975774765f},
+{-0.281328946352005f,0.2722915709018707f,0.15342500805854797f,-0.05506029725074768f,0.3614461123943329f,0.38994577527046204f,-0.504900336265564f,-0.37825238704681396f,0.07609312236309052f,-0.040353983640670776f,-0.37398988008499146f,0.08440176397562027f,0.0034877359867095947f,0.017489492893218994f,0.0917482078075409f,0.0006290987366810441f},
+{0.48325833678245544f,-0.38996243476867676f,-0.46408143639564514f,0.21873226761817932f,0.21739909052848816f,-0.1585371196269989f,-0.07090325653553009f,-0.5324326753616333f,-0.17219948768615723f,0.11846747994422913f,0.10377970337867737f,-0.5528340935707092f,-0.18220430612564087f,0.34354129433631897f,-0.39560696482658386f,-0.6672934889793396f},
+{-0.23890241980552673f,0.26856300234794617f,0.43443432450294495f,0.47054675221443176f,-0.2444402575492859f,0.1928340196609497f,0.6088649034500122f,-0.03958919271826744f,0.9933032393455505f,-0.23960404098033905f,-0.4517905116081238f,0.3833954632282257f,-0.10636469721794128f,-0.36954009532928467f,0.4632684886455536f,0.36586159467697144f},
+{0.18599005043506622f,-0.4577527642250061f,-0.18893712759017944f,-0.2580111026763916f,0.20725855231285095f,0.3979658782482147f,0.39988163113594055f,0.10821196436882019f,0.7022803425788879f,0.13835009932518005f,0.06936642527580261f,0.11946069449186325f,0.4060557782649994f,0.07035872340202332f,0.08435943722724915f,0.513665497303009f},
+{0.22634147107601166f,-0.3610522747039795f,0.007709383964538574f,-0.45314347743988037f,-0.2439386546611786f,-0.03869658708572388f,-0.25282254815101624f,-0.6282815337181091f,0.2713816463947296f,-0.431276798248291f,-0.38165801763534546f,0.47687867283821106f,0.24397620558738708f,-0.32317066192626953f,-0.183566153049469f,0.1583932340145111f},
+{0.7861992716789246f,-0.20963382720947266f,0.018037378787994385f,0.22312113642692566f,0.21930161118507385f,0.7223501205444336f,-0.06087440252304077f,-0.7740575671195984f,0.11346330493688583f,0.446165531873703f,0.3812456429004669f,0.21829484403133392f,-0.22461505234241486f,-0.359869122505188f,-0.1783960461616516f,-0.19950857758522034f},
+{0.4833274483680725f,0.39413633942604065f,0.06465211510658264f,-0.07386454939842224f,0.04376605153083801f,-0.16835500299930573f,-1.3170617818832397f,-0.7433012127876282f,0.34297144412994385f,-0.23626309633255005f,-0.4483550190925598f,-0.23839980363845825f,-0.4707546830177307f,-0.3454660177230835f,0.45097318291664124f,-0.4413853585720062f},
 };
 
 const float h2[16][16] = {
-    {-0.2620375156402588f,0.37042757868766785f,0.43509164452552795f,0.16807469725608826f,0.15916648507118225f,0.3894948661327362f,-0.32141682505607605f,0.13929973542690277f,-0.34060487151145935f,0.15095087885856628f,-0.344393789768219f,-0.058255635201931f,0.16450373828411102f,0.21836978197097778f,-0.20522934198379517f,-0.27261078357696533f},
-{-0.21259629726409912f,0.30915436148643494f,0.015076518058776855f,-0.39902231097221375f,-0.18323884904384613f,-0.25017163157463074f,0.22715261578559875f,0.12961390614509583f,0.062155842781066895f,-0.2879970073699951f,-0.4085868299007416f,-0.11838218569755554f,0.26664987206459045f,-0.39286932349205017f,0.10185262560844421f,0.179502934217453f},
-{-0.03793885186314583f,-0.3573683798313141f,0.06097343564033508f,-0.252775639295578f,-0.37151437997817993f,-0.013271182775497437f,-0.45967423915863037f,0.10316108167171478f,-0.11774859577417374f,0.5462096333503723f,-0.18710604310035706f,-0.029353726655244827f,-0.24944661557674408f,-0.2652386724948883f,0.3322176933288574f,-0.16139188408851624f},
-{0.22759874165058136f,0.22665467858314514f,-0.08438774198293686f,-0.09153807163238525f,-0.4037201702594757f,-0.13536912202835083f,0.1031552106142044f,0.17077112197875977f,-0.22907809913158417f,-0.08447431027889252f,-0.2665717601776123f,0.0590270459651947f,0.240172877907753f,-0.036954399198293686f,-0.2624008059501648f,0.34289684891700745f},
-{0.22408106923103333f,0.003781914710998535f,-0.003097875276580453f,0.012549430131912231f,0.05206727981567383f,0.1991729438304901f,-0.10661765933036804f,-0.1637379676103592f,0.4511772394180298f,0.32293254137039185f,-0.3264670968055725f,0.4172098636627197f,0.26955217123031616f,-0.3135477304458618f,-0.017087146639823914f,-0.13685491681098938f},
-{-0.10098368674516678f,-0.31099092960357666f,-0.35130780935287476f,-0.035713016986846924f,0.3840901553630829f,-0.07895198464393616f,-0.3359406888484955f,0.13158081471920013f,-0.264556884765625f,-0.20730061829090118f,-0.3289949893951416f,-0.37881767749786377f,0.22396403551101685f,0.324337363243103f,-0.07941572368144989f,0.3288460075855255f},
-{-0.08396893739700317f,-0.2486235648393631f,0.11694523692131042f,-0.3298819065093994f,0.2805224359035492f,-0.33067765831947327f,0.16457203030586243f,-0.24889105558395386f,-0.3972022235393524f,-0.4223710894584656f,-0.07348325848579407f,-0.14260199666023254f,-0.07233420014381409f,0.31599655747413635f,-0.2761499881744385f,-0.14283323287963867f},
-{0.10991116613149643f,0.03272828459739685f,0.3384140133857727f,0.24620458483695984f,-0.2754482626914978f,-0.20292288064956665f,-0.38267478346824646f,0.4620051681995392f,0.5180315375328064f,0.3701077997684479f,-0.07301062345504761f,0.24291732907295227f,0.1819831132888794f,-0.338138222694397f,0.32491427659988403f,-0.11201971769332886f},
-{-0.139004647731781f,0.0766352117061615f,0.15332308411598206f,0.09886243939399719f,0.415459007024765f,-0.2532200515270233f,-0.20159946382045746f,0.21463772654533386f,-0.3405895531177521f,-0.3144799768924713f,-0.26305460929870605f,-0.09823668003082275f,0.10379686951637268f,-0.3907162845134735f,0.06197598576545715f,-0.4297400414943695f},
-{-2.4657206535339355f,-0.5663966536521912f,0.39645668864250183f,-2.7376959323883057f,-0.3138399124145508f,-0.23994505405426025f,0.09061788022518158f,-0.018074365332722664f,-0.809702455997467f,-0.21874652802944183f,2.676147222518921f,-0.045667391270399094f,-0.245742067694664f,-1.3836430311203003f,0.07703496515750885f,0.013621658086776733f},
-{0.358629435300827f,0.2196318805217743f,-0.16727790236473083f,-0.213405579328537f,0.26773831248283386f,-0.001271277666091919f,0.067145437002182f,-0.3299995958805084f,-0.13708710670471191f,-0.19961315393447876f,-0.3892948031425476f,-0.20604045689105988f,0.2654934227466583f,-0.24381771683692932f,-0.05982998013496399f,-0.0015056133270263672f},
-{0.2640920579433441f,-0.22446219623088837f,-0.2886914610862732f,0.3683915436267853f,-0.36545583605766296f,0.30690982937812805f,0.026461631059646606f,0.20954808592796326f,-0.37727683782577515f,-0.017216116189956665f,0.33506569266319275f,-0.08547034859657288f,-0.3837997317314148f,0.3110499083995819f,0.023928165435791016f,0.11103644967079163f},
-{-0.05501928925514221f,-0.03194811940193176f,-0.3095245361328125f,-0.3765944242477417f,-0.08870676159858704f,-0.38370949029922485f,0.27549585700035095f,-0.1704704463481903f,-0.15534046292304993f,-0.029324114322662354f,0.30144771933555603f,0.1282394826412201f,-0.4146917164325714f,0.05758216977119446f,-0.12351158261299133f,0.33150044083595276f},
-{-6.269066333770752f,-0.4840625524520874f,-0.8029376268386841f,1.4539271593093872f,-0.2583809196949005f,0.06044796109199524f,5.5765461921691895f,-0.463117390871048f,-2.973649024963379f,-1.709280252456665f,1.1793328523635864f,-1.4464561939239502f,0.11601023375988007f,-1.2080674171447754f,-0.4982510507106781f,-0.018069803714752197f},
-{-0.5226690769195557f,0.024054784327745438f,0.3043413758277893f,-0.21406987309455872f,0.048102229833602905f,0.3183996379375458f,-2.242119550704956f,-2.4457921981811523f,1.1343311071395874f,0.8771806955337524f,-0.09124940633773804f,-0.01114705577492714f,-0.09407463669776917f,-0.6493850946426392f,0.6204522848129272f,0.40590086579322815f},
-{0.4078655242919922f,-0.021884441375732422f,0.7078089714050293f,-0.4147486984729767f,-0.22760425508022308f,-0.21837124228477478f,-0.6915476322174072f,0.400470107793808f,1.3295509815216064f,0.6675918102264404f,-0.22325173020362854f,0.31319117546081543f,0.19979795813560486f,0.09075940400362015f,-0.07419884204864502f,0.4099201261997223f},
+    {0.10711602121591568f,-0.3219960927963257f,-0.7724706530570984f,0.1153264194726944f,0.36798804998397827f,-0.7148209810256958f,-0.5582546591758728f,0.07986947894096375f,-0.4102965295314789f,0.15943066775798798f,-0.21706001460552216f,-0.18552014231681824f,-1.5666428804397583f,-0.7123135328292847f,-0.13713498413562775f,-0.6738623976707458f},
+{-0.3820376694202423f,-0.05057239532470703f,0.39189621806144714f,-0.1442817747592926f,-0.2559783458709717f,-0.08209952712059021f,-0.3583514988422394f,0.21119287610054016f,0.28084662556648254f,-0.324909508228302f,-0.319801926612854f,-0.32261958718299866f,0.03690364956855774f,0.10022339224815369f,-0.16119715571403503f,-0.07470908761024475f},
+{0.19085481762886047f,0.33027181029319763f,0.024400681257247925f,0.3576328456401825f,0.1058453619480133f,0.08477804064750671f,-0.13534009456634521f,-0.11061516404151917f,0.2429952323436737f,0.01206710934638977f,-0.30475306510925293f,0.2541376054286957f,0.3501727283000946f,-0.1406233310699463f,0.36547812819480896f,0.36482658982276917f},
+{0.3637916147708893f,0.40839317440986633f,-0.15058240294456482f,0.11620941758155823f,-0.008949518203735352f,-0.023007571697235107f,-0.26268690824508667f,-0.027145683765411377f,0.09583660960197449f,0.4258289635181427f,0.14400902390480042f,-0.3992516100406647f,-0.13335567712783813f,-0.20423337817192078f,-0.20497876405715942f,0.044813573360443115f},
+{-0.3593474328517914f,0.41006919741630554f,0.1559811532497406f,0.3147166073322296f,-0.0759010910987854f,-0.1485573947429657f,-0.13249775767326355f,0.4025212824344635f,-0.011054039001464844f,-0.30151861906051636f,-0.4282127320766449f,-0.12586891651153564f,0.38893923163414f,-0.06969687342643738f,0.030852854251861572f,-0.4086120128631592f},
+{-0.43200674653053284f,0.2889042794704437f,-0.5096439123153687f,0.23640574514865875f,-0.04831702634692192f,0.03002086840569973f,0.190653994679451f,-0.2387978583574295f,0.2244931012392044f,0.49199721217155457f,-0.21978147327899933f,-0.6717143654823303f,-0.29179438948631287f,-0.046011023223400116f,0.40720245242118835f,0.3574962615966797f},
+{0.007237517740577459f,0.2467774897813797f,-0.31371060013771057f,0.5715007185935974f,-0.27385377883911133f,0.44432201981544495f,0.3407413065433502f,-0.26718848943710327f,-0.11922106146812439f,0.010081987828016281f,-0.08673572540283203f,-0.2636319696903229f,0.5561531186103821f,0.3712316155433655f,0.112161785364151f,-0.24482719600200653f},
+{0.3448065519332886f,0.33172881603240967f,-0.4810541570186615f,-0.3058644235134125f,-0.6304896473884583f,0.003972720820456743f,0.20119036734104156f,-0.20551879703998566f,-0.1588941216468811f,-1.1226260662078857f,-0.30898916721343994f,-0.37775561213493347f,0.370740681886673f,0.2522626519203186f,-1.243490219116211f,-1.2887113094329834f},
+{-0.6136075854301453f,0.08977749198675156f,-0.005571053829044104f,0.3340134024620056f,0.05380788818001747f,0.19708549976348877f,-0.023430483415722847f,-0.2515442967414856f,0.4447247385978699f,-1.0939778089523315f,0.17802581191062927f,0.10478595644235611f,-1.188959002494812f,0.20263761281967163f,-1.228978157043457f,-0.5502332448959351f},
+{0.3283534348011017f,-0.15818262100219727f,0.18810495734214783f,-0.1206071674823761f,0.19914653897285461f,0.3576848804950714f,0.15701767802238464f,0.3472757637500763f,-0.05961701273918152f,0.3956315815448761f,-0.06963092088699341f,-0.4073924720287323f,0.29987195134162903f,0.32616183161735535f,-0.33939313888549805f,0.073701411485672f},
+{-0.28521978855133057f,0.30881890654563904f,-0.045077234506607056f,0.2790646255016327f,-0.22556054592132568f,0.040781170129776f,0.34380367398262024f,-0.23828765749931335f,0.30789050459861755f,-0.31902575492858887f,0.2949783504009247f,0.0009011626243591309f,0.4192834198474884f,0.37627312541007996f,0.3452952802181244f,-0.2817177176475525f},
+{-0.5285624265670776f,-0.1767973154783249f,-0.1437477320432663f,0.3081643581390381f,0.49483898282051086f,0.7096378803253174f,0.5053776502609253f,0.23283615708351135f,-0.32358524203300476f,-1.0945467948913574f,-0.06721502542495728f,0.019445734098553658f,-0.7441148161888123f,0.19560304284095764f,-1.1644854545593262f,-0.7535940408706665f},
+{-0.14913460612297058f,-0.22669482231140137f,0.41213205456733704f,-0.1080126166343689f,0.2869128882884979f,-0.10932758450508118f,-0.0035328269004821777f,0.27666154503822327f,0.3667071759700775f,0.31852301955223083f,-0.15825632214546204f,-0.2866479754447937f,-0.05008357763290405f,-0.4132354259490967f,0.2735231816768646f,0.2060517966747284f},
+{-0.04544425010681152f,0.29420211911201477f,0.227759450674057f,-0.1759386658668518f,0.4290323555469513f,0.3575476109981537f,-0.21152086555957794f,-0.1479385793209076f,0.04002144932746887f,0.1611030399799347f,0.26476868987083435f,-0.3766854703426361f,0.4036191999912262f,0.11643996834754944f,-0.11429962515830994f,-0.3367941975593567f},
+{-0.30452099442481995f,-0.22721132636070251f,-0.26642587780952454f,0.4252689778804779f,0.053191155195236206f,-0.17472025752067566f,0.21091929078102112f,0.42108795046806335f,0.07318219542503357f,0.21611401438713074f,-0.18975019454956055f,-0.026235729455947876f,-0.16403889656066895f,-0.005550593137741089f,-0.40346983075141907f,0.35599300265312195f},
+{-0.319931298494339f,0.3357459306716919f,0.27228331565856934f,0.48449909687042236f,0.013497433625161648f,0.40671753883361816f,0.35469478368759155f,0.12046822905540466f,0.1547253578901291f,0.22212451696395874f,-0.36704716086387634f,0.04066745936870575f,-0.22017160058021545f,0.07137735933065414f,0.01848495565354824f,-0.0647643581032753f},
 };
 
 const float h3[16][16] = {
-    {0.5000174045562744f,-0.3934583067893982f,3.2444660663604736f,0.16543321311473846f,-0.2896377444267273f,0.4315599501132965f,-0.24898718297481537f,0.3502558171749115f,0.038538217544555664f,-1.1473206281661987f,0.13260938227176666f,-3.1099228858947754f,-2.579786539077759f,-1.8402668237686157f,-0.35141128301620483f,-1.9576377868652344f},
-{-0.19814090430736542f,0.1000506579875946f,0.24856364727020264f,0.16854533553123474f,-0.014051258563995361f,0.21776077151298523f,0.2533715069293976f,0.4361461102962494f,-0.050481975078582764f,-0.2774789035320282f,-0.39193934202194214f,-0.08128736913204193f,-0.36607205867767334f,0.2565839886665344f,-0.2752825617790222f,0.07434240728616714f},
-{-0.0989396795630455f,-0.15912768244743347f,0.19554810225963593f,-0.1543317437171936f,-0.010217905044555664f,0.10984447598457336f,-0.8712243437767029f,-0.5927308797836304f,-0.2467522770166397f,-0.5041314959526062f,0.1504158228635788f,-0.705197811126709f,-0.7629088759422302f,-0.7897229790687561f,-0.4989174008369446f,0.07327631115913391f},
-{0.756802499294281f,-0.05796456336975098f,-0.5923332571983337f,0.1967080682516098f,-0.28813666105270386f,-0.4127959609031677f,-0.7479408383369446f,0.2776479125022888f,0.2536095678806305f,-0.8013079762458801f,-0.32496610283851624f,0.46975526213645935f,-2.4841690063476562f,0.20107950270175934f,-0.42854803800582886f,2.1080806255340576f},
-{0.1314193308353424f,-0.38466498255729675f,-0.15953338146209717f,-0.26907312870025635f,0.042690664529800415f,0.019402503967285156f,0.3272710144519806f,0.2640456259250641f,-0.20614370703697205f,-0.09802588820457458f,0.13658878207206726f,-0.05913272500038147f,-0.10392564535140991f,0.09841910004615784f,0.34520223736763f,0.18591228127479553f},
-{0.11987492442131042f,0.3606952130794525f,0.40429654717445374f,-0.4004298746585846f,-0.26991036534309387f,-0.3640212416648865f,0.1257953941822052f,-0.08500143885612488f,-0.16398006677627563f,0.08932033181190491f,0.2442457377910614f,-0.20674392580986023f,0.35870078206062317f,0.11110439896583557f,-0.20613843202590942f,-0.39209720492362976f},
-{-2.6611971855163574f,-0.539090096950531f,-1.5071735382080078f,-0.12003330141305923f,-0.12599343061447144f,-0.3494933545589447f,-2.1951372623443604f,-1.278491497039795f,0.02455461025238037f,-2.221325159072876f,-0.3452872335910797f,-1.6981240510940552f,-2.151801824569702f,-3.2274301052093506f,-0.4008919596672058f,0.962826132774353f},
-{-0.41465306282043457f,0.23161640763282776f,0.4639943540096283f,-0.4577018916606903f,-0.24190503358840942f,-0.1998729109764099f,0.09550302475690842f,-0.017417212948203087f,-0.06523853540420532f,0.27713626623153687f,-0.14726893603801727f,-0.18674850463867188f,-0.21913161873817444f,-0.24818894267082214f,0.3062843978404999f,-0.3072904646396637f},
-{-0.892498791217804f,0.0581616647541523f,0.15531174838542938f,-0.1323482245206833f,-0.3804210424423218f,-0.0036951005458831787f,-0.4520958960056305f,-0.9942843914031982f,0.3564160168170929f,0.2842966914176941f,-0.511879563331604f,-1.1283612251281738f,0.29649484157562256f,-0.7170117497444153f,-0.521460235118866f,-1.1580941677093506f},
-{-0.711818277835846f,-0.2637007236480713f,0.5674629211425781f,0.210587278008461f,0.26736071705818176f,-0.4109957814216614f,-0.916969358921051f,-0.076946921646595f,-0.05028003454208374f,-0.10429365932941437f,0.1912822425365448f,-0.8557406663894653f,0.834824800491333f,-0.8409402370452881f,0.236328586935997f,-0.47351527214050293f},
-{-3.8374710083007812f,-0.11407425999641418f,0.14006337523460388f,0.17107561230659485f,-0.33362388610839844f,0.30166277289390564f,-0.25330066680908203f,-0.1871817260980606f,-0.24762524664402008f,-0.3609272837638855f,-0.07041087746620178f,-0.8773161768913269f,-0.24865493178367615f,-0.06128392368555069f,-0.13219350576400757f,-1.9361486434936523f},
-{-0.05882857367396355f,-0.2733021080493927f,0.21617934107780457f,-0.30629611015319824f,0.07898566126823425f,0.2287261188030243f,0.02701757103204727f,0.3264598846435547f,-0.2693949043750763f,-0.2334243357181549f,0.1090087965130806f,-0.638395369052887f,-0.4086129665374756f,-0.46797919273376465f,0.22190247476100922f,0.20755542814731598f},
-{-0.2160346508026123f,-0.25015729665756226f,0.3509782552719116f,0.27520814538002014f,0.06877782940864563f,-0.16420304775238037f,-0.13360756635665894f,0.17819254100322723f,0.3542599380016327f,-0.39976000785827637f,0.15226706862449646f,0.03759896010160446f,-0.192609965801239f,0.3178251385688782f,0.376699298620224f,-0.03706258907914162f},
-{-0.4376278817653656f,-0.39521247148513794f,-0.052698906511068344f,0.045695118606090546f,0.18373921513557434f,-0.07091012597084045f,0.48824018239974976f,-0.09644247591495514f,-0.26085102558135986f,-0.4012276828289032f,-0.3096748888492584f,-0.9042310118675232f,-0.12502725422382355f,-0.5655964612960815f,0.08477383852005005f,-0.6312101483345032f},
-{-0.2165888547897339f,-0.2858605980873108f,-0.10608450323343277f,-0.11974962055683136f,0.4085064232349396f,-0.023935168981552124f,-0.49706608057022095f,-0.40255412459373474f,0.2847798764705658f,0.11177223175764084f,-0.08394107967615128f,-0.637089192867279f,-0.3223956525325775f,-0.12196404486894608f,-0.4778788089752197f,-0.2488020360469818f},
-{-0.3151550590991974f,0.3430427014827728f,0.10783877968788147f,0.23641803860664368f,-0.20377427339553833f,0.3869435489177704f,0.2664237320423126f,-0.3614561855792999f,-0.41822370886802673f,-0.1094929575920105f,0.36601582169532776f,-0.22730733454227448f,-0.3357813358306885f,0.02511197328567505f,-0.22192305326461792f,-0.03697633743286133f},
+    {-0.6105070114135742f,1.0508280992507935f,0.5099679231643677f,0.20275448262691498f,-0.07547688484191895f,-0.023691534996032715f,-0.07266086339950562f,-0.2342001497745514f,-0.31261223554611206f,0.5423684120178223f,0.24151773750782013f,0.7155778408050537f,0.10533377528190613f,0.07053157687187195f,0.04556022956967354f,-0.4153091609477997f},
+{-0.3383854329586029f,0.42052993178367615f,0.17544181644916534f,-0.18611645698547363f,0.2797074615955353f,-0.3834841251373291f,-0.08029666543006897f,0.21227537095546722f,-0.4210565686225891f,0.46330562233924866f,-0.03474501520395279f,-0.02547292225062847f,-0.13558954000473022f,0.0075962538830935955f,0.06760406494140625f,-0.017438294366002083f},
+{0.41831979155540466f,0.08518406748771667f,-0.023260748013854027f,-0.3561679422855377f,0.06848838925361633f,-0.40723997354507446f,0.07660302519798279f,-0.21887236833572388f,-0.1543133407831192f,0.054059263318777084f,-0.039673980325460434f,0.12215875834226608f,0.05069670081138611f,-0.4547763466835022f,-0.3488169014453888f,-0.37090712785720825f},
+{-0.46125712990760803f,-0.35736995935440063f,-0.6531837582588196f,-0.14690262079238892f,-0.08168119192123413f,-0.28550469875335693f,-0.19151906669139862f,-0.07988526672124863f,-0.6130618453025818f,0.028012944385409355f,0.36205562949180603f,-0.2999667823314667f,-0.1650363802909851f,-0.2705176770687103f,-0.18165746331214905f,0.6154178977012634f},
+{1.1007763147354126f,0.1184053048491478f,0.8361378312110901f,0.015108765102922916f,0.24564692378044128f,0.2982586920261383f,-0.18760117888450623f,0.3330334722995758f,0.1833181083202362f,0.050039492547512054f,-0.5625566244125366f,0.161347433924675f,-0.0017818808555603027f,0.22474125027656555f,-1.2494843006134033f,-0.09159240126609802f},
+{-0.6791540384292603f,0.14574778079986572f,-0.32448509335517883f,-0.4165355861186981f,0.4106365144252777f,-0.31328046321868896f,0.2793620526790619f,0.3833802342414856f,-0.43761587142944336f,0.40307512879371643f,0.3563341200351715f,0.008898935280740261f,0.33804813027381897f,-0.015757720917463303f,-0.023159468546509743f,0.5595774054527283f},
+{0.8618035912513733f,1.2286590337753296f,-0.5331903696060181f,-0.6791049242019653f,-0.20428138971328735f,0.19863000512123108f,0.32638880610466003f,-0.025865286588668823f,0.36565524339675903f,1.0746302604675293f,0.7554632425308228f,-0.4272988736629486f,0.3563644587993622f,-0.30120590329170227f,-0.6623874306678772f,0.5307977795600891f},
+{-0.3193711042404175f,0.1218973696231842f,-0.19616985321044922f,-0.023082315921783447f,0.13367322087287903f,-0.3059335947036743f,-0.11929482221603394f,-0.1508251130580902f,-0.2216520458459854f,-0.06751957535743713f,-0.06721070408821106f,0.23698177933692932f,-0.26428407430648804f,-0.23057927191257477f,0.24586907029151917f,0.3360707461833954f},
+{-0.3034684658050537f,0.0011701621115207672f,-0.1667250543832779f,0.07444056868553162f,0.14718100428581238f,0.2179601490497589f,-0.359576940536499f,-0.39299276471138f,-0.15387605130672455f,-0.16240262985229492f,0.05034502223134041f,0.02551150508224964f,-0.17794066667556763f,-0.2874400019645691f,-0.2171611189842224f,-0.10178762674331665f},
+{1.1675055027008057f,-2.995835304260254f,1.1043579578399658f,1.0910667181015015f,0.08255818486213684f,-0.37938258051872253f,0.2530566155910492f,0.03330666199326515f,0.7233428955078125f,-2.3197555541992188f,-0.3190533518791199f,-8.214447021484375f,0.3720580041408539f,-0.08469279110431671f,0.11085876077413559f,-0.26754030585289f},
+{-0.41666120290756226f,-0.09339678287506104f,-0.19723919034004211f,0.14874258637428284f,-0.003705739974975586f,0.07520678639411926f,-0.32315075397491455f,-0.12671196460723877f,0.3170858323574066f,-0.15279656648635864f,-0.22618916630744934f,0.3000360429286957f,0.2124820053577423f,0.3511534035205841f,0.24120929837226868f,0.3990005552768707f},
+{-0.774928092956543f,-0.35300132632255554f,0.006366634275764227f,-0.2985939681529999f,-0.20577968657016754f,-0.14052122831344604f,-0.4318999946117401f,-0.10304015129804611f,0.02742459811270237f,0.27652809023857117f,-0.17998315393924713f,0.32230764627456665f,-0.19334803521633148f,0.1919790357351303f,0.13642828166484833f,-0.10545405000448227f},
+{-0.013569745235145092f,0.5990375876426697f,-0.03547525033354759f,0.16136790812015533f,-0.2015642523765564f,-0.35591208934783936f,0.1260826289653778f,-0.011323690414428711f,0.5351055264472961f,0.8468751907348633f,0.2568182945251465f,0.8109418749809265f,0.2953597605228424f,0.17118576169013977f,-0.047226738184690475f,-0.1373402625322342f},
+{-0.5596145987510681f,0.5334050059318542f,0.18761232495307922f,0.06980685144662857f,-0.21311858296394348f,-0.028744429349899292f,-0.3049434423446655f,-0.34342503547668457f,0.1580897569656372f,-0.14448504149913788f,-0.14509296417236328f,0.3147367238998413f,-0.10237488150596619f,0.23179569840431213f,-0.23657672107219696f,0.2964322865009308f},
+{1.8403666019439697f,-5.090276718139648f,3.899749755859375f,3.573310613632202f,-0.08833220601081848f,-0.3877703845500946f,0.18283489346504211f,-0.184747576713562f,2.430241107940674f,-4.316127777099609f,-3.8334851264953613f,-11.004636764526367f,-0.18002575635910034f,-0.378204345703125f,-0.42899590730667114f,-4.0050201416015625f},
+{0.4848117232322693f,-1.9651232957839966f,0.17202088236808777f,0.16108338534832f,0.18950209021568298f,0.008380264043807983f,0.3457723557949066f,0.32392919063568115f,-0.061364419758319855f,-1.1472247838974f,0.02158409170806408f,-2.1100332736968994f,0.12201854586601257f,0.2896798551082611f,0.09857922047376633f,0.5197456479072571f},
 };
 
-const float hout[16] = { 0.9916985034942627f,0.0779474526643753f,-0.059218667447566986f,0.28552961349487305f,0.4177809953689575f,0.10823440551757812f,1.7049182653427124f,1.4367884397506714f,0.26246923208236694f,1.1129926443099976f,0.021266205236315727f,1.8224459886550903f,1.6953108310699463f,0.9579318165779114f,0.08610948920249939f,-0.20108376443386078f };
-
-const float b1[16] = { 0.0904887393116951f,-0.09911143034696579f,0.9018362760543823f,-0.16343198716640472f,0.03011699579656124f,0.4689757823944092f,-0.5947720408439636f,-0.3204752504825592f,-1.0864993333816528f,2.02054500579834f,-0.3855648636817932f,-0.42363351583480835f,0.3849257826805115f,3.7228715419769287f,0.24543751776218414f,-0.07794411480426788f };
-
-const float b2[16] = { -0.01568278670310974f,-0.19216857850551605f,-0.6542280316352844f,0.5167033672332764f,-0.6799002289772034f,-1.1810632944107056f,0.30047011375427246f,-0.20442862808704376f,-0.739217221736908f,-0.6231285929679871f,-0.5815446972846985f,-0.2541882395744324f,-0.23933610320091248f,-0.07090947777032852f,-0.7687814831733704f,-0.5511945486068726f };
-
-const float b3[16] = { 1.0354466438293457f,-0.3245743215084076f,-0.8153882622718811f,-0.8336290717124939f,-0.7861266732215881f,-1.8031482696533203f,0.24558615684509277f,0.9596911668777466f,-1.0300992727279663f,-0.0033117507118731737f,-0.05127987638115883f,-0.024405304342508316f,0.40189796686172485f,0.4642368257045746f,-0.03082113526761532f,0.7068071365356445f };
-
-const float bout[1] = { 0.6253164410591125f };
+const float hout[16] = { 0.5757366418838501f,-1.057336688041687f,0.7756696343421936f,0.42386165261268616f,-0.4851364493370056f,0.23653149604797363f,0.08131623268127441f,0.42673227190971375f,0.8580243587493896f,-0.780750036239624f,-0.4231623411178589f,0.9228139519691467f,0.21075838804244995f,0.7858355045318604f,0.6423007845878601f,-1.1632461547851562f };
+
+const float b1[16] = { 0.11824183166027069f,0.15450668334960938f,-2.300464391708374f,-1.8326101303100586f,-1.2932161092758179f,-0.44416940212249756f,0.9911636710166931f,2.7341086864471436f,0.38401326537132263f,-1.0709140300750732f,-0.37061917781829834f,0.6062805652618408f,-0.35247132182121277f,-2.0102055072784424f,-1.0232130289077759f,0.3249252438545227f };
+
+const float b2[16] = { 1.0122888088226318f,-0.5716910362243652f,1.1705057621002197f,-0.7185690402984619f,0.23370666801929474f,-0.15415731072425842f,-0.7873533964157104f,0.14273081719875336f,-0.30734485387802124f,-0.6992434859275818f,0.006595069542527199f,1.5780528783798218f,0.45533522963523865f,-0.0723719373345375f,-0.4900124967098236f,-0.07508984953165054f };
+
+const float b3[16] = { 0.7156451344490051f,0.11317598819732666f,1.3797298669815063f,1.7295622825622559f,-0.7526410818099976f,-1.076995611190796f,-1.2587300539016724f,-0.20355229079723358f,0.941055953502655f,-0.1669413447380066f,0.5080956816673279f,0.23334448039531708f,-0.9299089312553406f,-0.5410938858985901f,0.1581716686487198f,0.16141118109226227f };
+
+const float bout[1] = { -0.061679013073444366f };
 
 float valve_ref_pos_buffer[10] = {0.0f};
 
@@ -2515,7 +2515,8 @@
                     }
                 }
                 float tau = 0.01f;
-                float K_valve = 0.0004f;
+                //float K_valve = 0.0004f;
+                float K_valve = 0.0002f;
 
                 float x_v = 0.0f;   //x_v : -1~1
                 if(value>=VALVE_CENTER) {