Diff: main.cpp

Revision:

228:83e3a91aa1c6

Parent:

227:3bc296775732

Child:

229:c13dac18dee3

diff -r 3bc296775732 -r 83e3a91aa1c6 main.cpp
--- a/main.cpp	Wed Dec 30 03:52:47 2020 +0000
+++ b/main.cpp	Wed Dec 30 04:37:41 2020 +0000
@@ -1,4 +1,4 @@
-//201229_2
+//201230_1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -199,72 +199,77 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = {
-    {-1.9207786321640015f,1.6988773345947266f,0.12903714179992676f,-1.279435157775879f,-1.9909706115722656f,0.7861484885215759f,-0.17472904920578003f,2.4785399436950684f,-0.4457712769508362f,-2.131021499633789f,-0.23763932287693024f,-2.3421378135681152f,-0.30731669068336487f,-1.2876925468444824f,-0.2571594715118408f,0.987026035785675f},
-{-1.0858988761901855f,0.6040210127830505f,-0.3927857577800751f,-2.0846407413482666f,-0.6688789129257202f,0.1907724142074585f,-0.4054011106491089f,1.3712066411972046f,-0.21409939229488373f,-0.2795054018497467f,-0.27449890971183777f,-2.075670003890991f,0.1928560435771942f,-1.1678922176361084f,-0.20967772603034973f,0.4458991289138794f},
-{-1.0285701751708984f,0.6030817627906799f,0.36391180753707886f,-2.0771591663360596f,-0.39852604269981384f,0.13221867382526398f,0.2872133255004883f,0.8451540470123291f,-0.2726841866970062f,-0.00858672522008419f,-0.3484817147254944f,-1.2455003261566162f,-0.044814277440309525f,-0.3362787365913391f,0.05590221285820007f,-0.1909589320421219f},
-{-0.6374551653862f,0.43551942706108093f,0.39742106199264526f,-0.004433820489794016f,-0.49116432666778564f,-0.43226829171180725f,-0.11584559082984924f,0.19686971604824066f,-0.06810595095157623f,0.01453996542841196f,0.09518895298242569f,0.7109192609786987f,-0.20577971637248993f,-0.06710827350616455f,-0.2961459457874298f,-0.0010055431630462408f},
-{1.0016977787017822f,-0.13692297041416168f,-0.0051451027393341064f,1.9194016456604004f,0.26095712184906006f,-0.46686214208602905f,0.1294034719467163f,-1.4040372371673584f,-0.04142839461565018f,0.28280720114707947f,0.34694814682006836f,2.017042398452759f,-0.10804130882024765f,0.6484437584877014f,-0.3865056037902832f,-0.37220606207847595f},
-{3.7013962268829346f,-3.278064250946045f,0.21773302555084229f,3.473672866821289f,3.215096950531006f,-1.398314118385315f,0.16514194011688232f,-3.392561674118042f,-0.012783311307430267f,2.540696144104004f,-0.2487698644399643f,2.9128754138946533f,-0.3032718896865845f,1.8724522590637207f,-0.4132833778858185f,-0.8123645186424255f},
-{-0.6710088849067688f,0.46112117171287537f,-0.2501986622810364f,-2.3768506050109863f,-1.4471440315246582f,0.8103431463241577f,0.06014183163642883f,-2.1690258979797363f,0.5684102177619934f,0.9370816349983215f,0.1465349942445755f,4.244968891143799f,-0.22622241079807281f,1.8125272989273071f,-0.15618428587913513f,-5.338499546051025f},
-{-1.2472254037857056f,1.9048551321029663f,-0.26619744300842285f,1.7906368970870972f,-2.4618420600891113f,0.3910621106624603f,-0.17925891280174255f,-0.05274081975221634f,-0.11704742163419724f,-1.3910291194915771f,0.10057748109102249f,0.47454091906547546f,0.3281961977481842f,-0.5049985647201538f,0.04303058981895447f,2.4299402236938477f},
-{-0.2762143909931183f,1.5523386001586914f,0.10248100757598877f,-0.6649307608604431f,-0.8571042418479919f,0.2966843843460083f,-0.07246989011764526f,-1.4243028163909912f,-0.38427025079727173f,0.7453100085258484f,-0.3020334541797638f,0.5186165571212769f,0.1919834464788437f,0.7505708336830139f,-0.30555272102355957f,-0.0865456834435463f},
-{0.4833992123603821f,-0.66792893409729f,0.18462657928466797f,-2.204852819442749f,1.2485759258270264f,-0.14624856412410736f,-0.2990540862083435f,-1.0172507762908936f,-0.07009746134281158f,1.3455805778503418f,-0.013086263090372086f,-1.4063358306884766f,0.33873435854911804f,0.6942158341407776f,0.3484981060028076f,-1.8230526447296143f},
-{0.263083815574646f,-0.7824137806892395f,0.37182438373565674f,-1.4554626941680908f,0.8534267544746399f,-0.45402467250823975f,-0.20339298248291016f,-0.15594691038131714f,-0.4494841992855072f,1.4487119913101196f,0.34380078315734863f,-2.0460476875305176f,-0.09975148737430573f,0.2791770398616791f,0.26688337326049805f,-0.5918031930923462f},
-{-0.3671118915081024f,-1.3361672163009644f,-0.40320003032684326f,-0.36611101031303406f,0.8394630551338196f,-0.5290222764015198f,0.1533789038658142f,0.021133562549948692f,-0.1523493230342865f,1.4112792015075684f,-0.4184671640396118f,-1.0062904357910156f,0.10812203586101532f,0.03889288008213043f,0.10493969917297363f,0.19405925273895264f},
-{-0.22922350466251373f,-0.8320530652999878f,0.19847965240478516f,0.3712257146835327f,0.6117526888847351f,-0.27650442719459534f,-0.2404318004846573f,0.1262647807598114f,-0.18097127974033356f,0.5093924403190613f,-0.11337478458881378f,-0.8287050724029541f,0.0486176498234272f,-0.07510311156511307f,-0.22268100082874298f,-0.25564345717430115f},
-{-0.07298066467046738f,-0.660511314868927f,0.4127817749977112f,0.27916836738586426f,0.09690514951944351f,-0.666505753993988f,-0.32001304626464844f,-0.11481151729822159f,-0.1562783271074295f,0.09439577907323837f,-0.19933317601680756f,-0.5123093724250793f,-0.361269474029541f,-0.2158910483121872f,0.0479682981967926f,0.01685076393187046f},
-{0.020352520048618317f,-0.12291094660758972f,0.20282304286956787f,-0.0021502289455384016f,0.256190687417984f,-0.3862338662147522f,0.04202890396118164f,0.27421513199806213f,0.24047711491584778f,-0.0012752359034493566f,-0.2839800715446472f,-0.43262234330177307f,0.052558090537786484f,-0.22255147993564606f,0.0668090283870697f,-0.46243277192115784f},
-{0.06367768347263336f,-0.46460282802581787f,-0.40439701080322266f,0.15040989220142365f,-0.19055356085300446f,-0.31834033131599426f,-0.15568238496780396f,-0.016957277432084084f,0.09625150263309479f,-0.37879759073257446f,-0.47873246669769287f,-0.3153415024280548f,-0.32210999727249146f,-0.1251159906387329f,-0.08245879411697388f,-0.3120158910751343f},
-{-0.1498112976551056f,-1.1029441356658936f,0.16706281900405884f,1.2164077758789062f,0.14411111176013947f,-0.8045989871025085f,-0.041414469480514526f,0.3490663468837738f,-0.21580351889133453f,0.013945421203970909f,-0.3585408926010132f,-0.8998300433158875f,0.06326267123222351f,0.7034234404563904f,0.29427415132522583f,-1.0481795072555542f},
+    {0.21710851788520813f,-0.05835658311843872f,0.12024858593940735f,-0.31008681654930115f,-0.0982133150100708f,-0.17835518717765808f,-0.1628284603357315f,0.0627439022064209f,-0.2620668113231659f,-0.05229143425822258f,-0.1862572282552719f,-0.3528204560279846f,0.2787628173828125f,0.2949141561985016f,-0.2396446317434311f,0.1873062551021576f},
+{-0.1646273285150528f,0.15895842015743256f,-0.36603355407714844f,-0.1901821345090866f,-0.2621099054813385f,0.1840967983007431f,-0.3777896761894226f,-0.05303867906332016f,-0.0715283527970314f,0.1800564080476761f,-0.2212582379579544f,-0.03985835984349251f,0.056893475353717804f,-0.07665825635194778f,-0.1953967958688736f,0.13413189351558685f},
+{-0.1751502901315689f,0.1295098513364792f,0.33912619948387146f,-0.5264424681663513f,0.0014073352795094252f,-0.10263941437005997f,0.2676515281200409f,-0.05712807551026344f,-0.14674054086208344f,0.18135717511177063f,-0.29151666164398193f,0.39914262294769287f,-0.10191211849451065f,-0.03679787740111351f,0.05209478735923767f,-0.23318035900592804f},
+{0.08773957192897797f,0.059932585805654526f,0.3703531324863434f,0.1890704482793808f,-0.5685915946960449f,-0.9968946576118469f,-0.10795548558235168f,0.2569338381290436f,0.023257998749613762f,0.30387452244758606f,0.12322977185249329f,-6.214670658111572f,0.6218557357788086f,0.22927629947662354f,-0.27597576379776f,1.0344496965408325f},
+{-0.341019868850708f,1.716659426689148f,-0.004794687032699585f,3.811917543411255f,-0.44779855012893677f,5.250626564025879f,0.12058994174003601f,0.06565902382135391f,0.029530562460422516f,0.13024947047233582f,0.3581587076187134f,5.495739936828613f,0.32269057631492615f,0.2027294933795929f,-0.36018112301826477f,-1.535042405128479f},
+{-0.8380345106124878f,-1.3260560035705566f,0.20290347933769226f,2.5959393978118896f,1.4356293678283691f,0.30882853269577026f,0.15389427542686462f,-0.321927011013031f,0.030967984348535538f,0.13585081696510315f,-0.1967213749885559f,1.4991086721420288f,0.5693753957748413f,0.1478225290775299f,-0.38513508439064026f,0.9474997520446777f},
+{-0.683259904384613f,-0.8101462721824646f,-0.2331579178571701f,0.2851295471191406f,0.5227901339530945f,0.2213594615459442f,0.05604562163352966f,-0.3566524088382721f,0.340404748916626f,0.08874274045228958f,0.17397800087928772f,0.36228781938552856f,0.3637121319770813f,0.204885333776474f,-0.14554673433303833f,1.5621423721313477f},
+{0.2438136488199234f,-0.038819216191768646f,-0.24806702136993408f,0.26695358753204346f,-0.6833134293556213f,-0.45427772402763367f,-0.16704979538917542f,-0.364534467458725f,0.026426557451486588f,0.13160675764083862f,0.13139647245407104f,-0.5438024401664734f,0.2081027328968048f,0.0352388434112072f,0.04009982943534851f,0.8651177287101746f},
+{0.399420827627182f,0.7111073136329651f,0.09550115466117859f,-0.13722945749759674f,-0.6188552379608154f,0.09277452528476715f,-0.06753402948379517f,-0.4231712818145752f,-0.24982194602489471f,0.34706196188926697f,-0.24380797147750854f,0.08192895352840424f,0.018970858305692673f,0.11796440184116364f,-0.2847418785095215f,0.17251382768154144f},
+{0.38405391573905945f,0.42134660482406616f,0.17205187678337097f,-1.2010875940322876f,-0.6272928714752197f,-0.0024884298909455538f,-0.2786858379840851f,-0.11577512323856354f,-0.004904093686491251f,-0.41817817091941833f,0.025525355711579323f,-0.6284334659576416f,-0.0862298384308815f,-0.287846177816391f,0.3247623145580292f,-1.3453173637390137f},
+{0.6584739685058594f,0.8861123919487f,0.34649983048439026f,-2.0575315952301025f,0.0029634551610797644f,-0.1881372630596161f,-0.1895401030778885f,-0.016842292621731758f,-0.39519330859184265f,0.0457906648516655f,0.35786765813827515f,-0.6493228077888489f,-1.0070158243179321f,-0.1055193692445755f,0.24870619177818298f,-2.0926122665405273f},
+{-4.20821475982666f,-4.356006145477295f,-0.3757385015487671f,2.0618209838867188f,2.884111166000366f,2.543921947479248f,0.1429324448108673f,0.1709202378988266f,-0.1357613056898117f,0.2062210589647293f,-0.3532536029815674f,1.7752840518951416f,4.858647346496582f,-0.660963773727417f,0.09779238700866699f,0.7557253837585449f},
+{-2.1083571910858154f,-1.7688544988632202f,0.18496140837669373f,-0.46151071786880493f,1.474288821220398f,-0.7176749110221863f,-0.22405625879764557f,-0.03395454213023186f,-0.15607798099517822f,-0.1729339212179184f,-0.06886337697505951f,-0.29444989562034607f,1.2748531103134155f,-0.20135706663131714f,-0.2075144499540329f,-3.261737823486328f},
+{3.5962183475494385f,3.374176025390625f,0.38466766476631165f,-4.8142170906066895f,-4.66273307800293f,-3.462780237197876f,-0.2982172966003418f,-0.43583643436431885f,-0.10630133002996445f,-0.2060280591249466f,-0.1487589031457901f,-1.0152119398117065f,-3.2444868087768555f,0.49480560421943665f,0.04470124840736389f,-4.24110221862793f},
+{1.598503828048706f,0.5136365294456482f,0.18900898098945618f,0.017271745949983597f,-1.8248393535614014f,-4.067183971405029f,0.03916636109352112f,0.09532613307237625f,0.30280715227127075f,0.07684552669525146f,-0.22735022008419037f,-0.6214115023612976f,-1.3549392223358154f,0.2816005051136017f,0.062258750200271606f,-3.0343241691589355f},
+{-0.04581713676452637f,-0.8378515243530273f,-0.37685394287109375f,1.967070460319519f,0.19949127733707428f,-1.418633222579956f,-0.14507901668548584f,-0.17562240362167358f,0.20774737000465393f,-0.009641649201512337f,-0.40854886174201965f,0.4172761142253876f,-0.45967918634414673f,-0.012022500857710838f,-0.07684260606765747f,0.7026128768920898f},
+{0.32617276906967163f,-0.25086039304733276f,0.15568438172340393f,0.4640309810638428f,-0.37468042969703674f,-1.229672908782959f,-0.03859376907348633f,-0.1532677412033081f,-0.03914693370461464f,0.07321617752313614f,-0.29630669951438904f,-0.5918252468109131f,-0.3932393491268158f,0.29289379715919495f,0.2742314636707306f,-0.031258534640073776f},
+{-0.005290712229907513f,-0.07519976794719696f,0.19490453600883484f,0.5935949683189392f,-0.07097543030977249f,-0.3804037272930145f,-0.336474746465683f,-0.05229208618402481f,-0.3598732352256775f,-0.1231364756822586f,-0.12190809845924377f,0.367918998003006f,-0.08971880376338959f,-0.17653463780879974f,-0.2561379373073578f,0.7032476663589478f},
+{-0.06372973322868347f,0.033496905118227005f,-0.2776013910770416f,0.2678217589855194f,0.0578499510884285f,-0.6571398377418518f,0.25546005368232727f,-0.4622184932231903f,-0.35577359795570374f,0.017385512590408325f,-0.3627778887748718f,-0.1795680820941925f,-0.22878967225551605f,0.158436581492424f,-0.30415377020835876f,-0.32187676429748535f},
+{0.16661548614501953f,-0.004885958973318338f,0.1420871913433075f,0.045542508363723755f,-0.03160545229911804f,0.008304453454911709f,-0.13263443112373352f,-0.510770320892334f,-0.14304111897945404f,0.03424033150076866f,0.13338813185691833f,0.25419220328330994f,0.2775229215621948f,0.27265164256095886f,0.13351169228553772f,0.12091268599033356f},
+{-0.0903313085436821f,-0.22801446914672852f,-0.07561364769935608f,0.37586510181427f,-0.19908323884010315f,0.0550796203315258f,0.14428457617759705f,-0.14634819328784943f,-0.3402363657951355f,-0.2975690960884094f,-0.34984755516052246f,-0.16906507313251495f,-0.308422714471817f,0.31129270792007446f,0.019461065530776978f,0.37325340509414673f},
+{-0.040057551115751266f,-0.20191167294979095f,0.2631795108318329f,0.14898988604545593f,0.1371445208787918f,-0.5027453303337097f,0.27224990725517273f,-0.1382894366979599f,-0.04866792634129524f,0.08683944493532181f,0.07068000733852386f,0.2494114190340042f,-0.12455370277166367f,0.048056963831186295f,0.06011766195297241f,0.18133442103862762f},
 };
 
 const float h2[16][16] = {
-    {-3.279550790786743f,1.3984382152557373f,-0.06966331601142883f,5.138574600219727f,-0.21907491981983185f,3.159214973449707f,-11.226640701293945f,0.03695585951209068f,-0.43008196353912354f,-0.1415480375289917f,0.3537538945674896f,-0.489955335855484f,0.07270299643278122f,-4.281073093414307f,4.7336907386779785f,0.16744309663772583f},
-{0.17123033106327057f,-0.32801592350006104f,0.057057321071624756f,-0.8009116053581238f,-0.35503754019737244f,0.8754817843437195f,-0.11818888783454895f,-0.3436000347137451f,-0.33757925033569336f,0.2895788848400116f,0.5213285684585571f,-0.777406632900238f,0.1337842345237732f,1.1321638822555542f,1.9351468086242676f,1.1557437181472778f},
+    {-0.26723405718803406f,3.436506986618042f,-0.06966331601142883f,-1.8851170539855957f,-0.21907491981983185f,0.291226863861084f,0.015459171496331692f,-0.1071208193898201f,-0.5817054510116577f,-0.1415480375289917f,2.841161012649536f,-0.7992897033691406f,-0.07293413579463959f,-0.4298669099807739f,-2.4861531257629395f,1.5274772644042969f},
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 {-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},
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 };
 
 const float h3[16][16] = {
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-{0.15459725260734558f,1.7443275451660156f,-1.591740369796753f,-0.2975398004055023f,0.31785422563552856f,0.04364809766411781f,-0.08742031455039978f,0.05785742402076721f,-0.2837896943092346f,-0.3673296868801117f,-0.12857381999492645f,-0.8325196504592896f,-0.37156933546066284f,-0.6884478330612183f,-0.6881860494613647f,1.5288281440734863f},
-{-0.408692330121994f,0.01719093509018421f,0.05000424385070801f,0.0922636091709137f,-0.02135528437793255f,-0.14273621141910553f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4053786098957062f,-0.16870169341564178f,-0.11664175987243652f,0.3340166509151459f},
-{-0.2991822361946106f,0.26145896315574646f,0.013320297934114933f,-0.05932474136352539f,0.17160382866859436f,0.15367117524147034f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.11107879132032394f,-0.22281543910503387f,0.2101161628961563f,-0.07371605932712555f},
-{-0.2675279378890991f,-0.171584352850914f,0.8003653287887573f,-0.09207814931869507f,0.17126235365867615f,-1.083191990852356f,-0.3741258978843689f,-0.4711456894874573f,-0.5868393182754517f,-0.7122592926025391f,-0.6053783297538757f,0.4375041425228119f,0.8803552985191345f,1.1093401908874512f,0.1538943350315094f,0.45353952050209045f},
-{-0.015470266342163086f,-1.0723323822021484f,0.723766565322876f,0.21223178505897522f,-0.763659656047821f,-0.45682474970817566f,-0.1438569277524948f,-0.16299200057983398f,-0.4030216634273529f,-0.5859634280204773f,-0.02150462381541729f,0.8767731785774231f,-0.001121284905821085f,-1.9785069227218628f,0.3488675355911255f,-1.2748806476593018f},
-{0.1863725483417511f,0.8063966035842896f,-0.261747807264328f,-0.5229145288467407f,-0.9701830148696899f,-2.291463613510132f,-0.14978085458278656f,-0.13449683785438538f,-0.009946722537279129f,0.21375170350074768f,-0.3929237127304077f,-1.7317408323287964f,0.8280795812606812f,0.8070957064628601f,-1.3346682786941528f,-0.546489417552948f},
+{0.15459725260734558f,0.6347795724868774f,-2.843824863433838f,-0.8757935166358948f,-3.682453155517578f,0.11140545457601547f,-0.22749444842338562f,-0.21671739220619202f,-0.2897385358810425f,-0.561979353427887f,0.1738443821668625f,-0.6332975029945374f,0.02973129227757454f,-0.4262983202934265f,0.45153680443763733f,2.4266700744628906f},
+{-0.408692330121994f,0.07524891197681427f,0.07453340291976929f,-0.13479788601398468f,-0.012258211150765419f,-0.2789190411567688f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4356187880039215f,-0.45683375000953674f,-0.31865036487579346f,0.34510013461112976f},
+{-0.2991822361946106f,0.26059526205062866f,0.02585286647081375f,-0.05932474136352539f,0.19066159427165985f,0.12553727626800537f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.1342717409133911f,-0.24822832643985748f,0.25641894340515137f,-0.16869547963142395f},
+{-0.2675279378890991f,-0.038760922849178314f,0.8058972358703613f,0.568178653717041f,1.926482081413269f,1.051330804824829f,-0.6637630462646484f,-0.31893211603164673f,-0.684364914894104f,-1.2043099403381348f,1.0483613014221191f,-0.6093144416809082f,-0.6137930750846863f,-1.9366679191589355f,0.2598099410533905f,3.515615940093994f},
+{-0.015470266342163086f,0.5485411286354065f,1.72163987159729f,-0.12105733156204224f,-0.3831140995025635f,-1.352612853050232f,-0.5277559757232666f,-0.23413920402526855f,-0.6437380909919739f,-0.8957201242446899f,-0.650761604309082f,-0.5959860682487488f,0.7570517063140869f,-0.511589527130127f,-0.24105386435985565f,-1.6552906036376953f},
+{0.1863725483417511f,0.23044399917125702f,2.8924405574798584f,-0.16066978871822357f,-0.9396040439605713f,0.942517876625061f,-0.12535610795021057f,0.036833830177783966f,-0.41546201705932617f,-0.26821044087409973f,-0.645840585231781f,-0.044248316437006f,0.6587316393852234f,-1.3007421493530273f,-0.2326364666223526f,-1.1934552192687988f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.23944081366062164f,-0.1609853059053421f,0.04123726487159729f,-0.15389685332775116f,0.15428707003593445f,-0.08261777460575104f,-0.0670207068324089f,-0.17322556674480438f,-0.0906682163476944f,0.07139790803194046f,-0.09385088831186295f,-0.10334277898073196f,0.16455674171447754f,0.13848303258419037f,-0.16110169887542725f };
-
-const float b1[16] = { 1.1493452787399292f,1.1892979145050049f,-1.7145336866378784f,1.892533540725708f,0.8489716053009033f,0.734098494052887f,-0.058932315558195114f,2.2942941188812256f,0.4328959882259369f,-2.3650143146514893f,0.5675008296966553f,1.369621753692627f,-0.41816702485084534f,-1.8981163501739502f,-1.087764859199524f,3.761976957321167f };
-
-const float b2[16] = { 1.3426367044448853f,0.4375428557395935f,-1.4564176797866821f,-0.5988835692405701f,-0.6939148902893066f,0.683953583240509f,1.1661195755004883f,-0.3192075192928314f,-1.20063054561615f,-1.912178635597229f,-1.324724555015564f,0.25205105543136597f,-0.3226426839828491f,1.075128197669983f,-1.1039854288101196f,1.398043155670166f };
-
-const float b3[16] = { -1.963319182395935f,-0.47129005193710327f,0.313810795545578f,-0.22355298697948456f,0.7034278512001038f,0.7489508986473083f,-0.6396648287773132f,-0.9656848907470703f,0.21340391039848328f,0.2163408100605011f,-0.5201754570007324f,0.18033207952976227f,0.9134877920150757f,0.6106834411621094f,0.6409071683883667f,0.5369388461112976f };
-
-const float bout[1] = { -0.19219829142093658f };
+const float hout[16] = { 0.45773375034332275f,0.2386862337589264f,-0.2851997911930084f,-0.14161087572574615f,-0.17498421669006348f,0.20173802971839905f,-0.0029246758203953505f,0.057233236730098724f,0.06631378084421158f,0.12506327033042908f,0.270881712436676f,-0.1020549014210701f,-0.24224728345870972f,0.16140422224998474f,0.2347816675901413f,-0.12646318972110748f };
+
+const float b1[16] = { 0.682098388671875f,1.3871639966964722f,-1.7145336866378784f,-1.186700701713562f,2.072877883911133f,2.73624849319458f,-0.058932315558195114f,0.8410549163818359f,0.5336584448814392f,-0.8973275423049927f,0.6093431115150452f,0.40226659178733826f,-0.4711519479751587f,-1.025956630706787f,-1.087764859199524f,4.489203453063965f };
+
+const float b2[16] = { -0.4100606441497803f,-1.4202418327331543f,-1.4564176797866821f,-0.7459886074066162f,-0.6939148902893066f,-0.11409489065408707f,2.606159210205078f,-0.5281766057014465f,-1.3896151781082153f,-1.912178635597229f,-1.0096604824066162f,0.04112252593040466f,-0.30573347210884094f,1.7771672010421753f,0.9408959150314331f,1.509745717048645f };
+
+const float b3[16] = { -1.963319182395935f,1.035247564315796f,-4.8930206298828125f,-0.12025665491819382f,0.3674905002117157f,1.4917001724243164f,-0.7277941703796387f,-0.9398375153541565f,0.036721598356962204f,-0.03335632383823395f,-3.3403966426849365f,-0.5037021636962891f,1.1861028671264648f,2.1023385524749756f,-1.3048676252365112f,-1.8699331283569336f };
+
+const float bout[1] = { -0.25776052474975586f };
 
 float valve_ref_pos_buffer[10] = {0.0f};
 
@@ -1041,9 +1046,9 @@
             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;
             }