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Diff: main.cpp
- Revision:
- 247:87a44e8b3392
- Parent:
- 246:d483d039ca55
- Child:
- 248:c925c863ea87
diff -r d483d039ca55 -r 87a44e8b3392 main.cpp --- 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}, 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+{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) {