Diff: main.cpp

Revision:

145:35f5ec0d7e56

Parent:

144:fb8c3025963c

--- a/main.cpp	Thu Oct 08 07:35:31 2020 +0000
+++ b/main.cpp	Thu Oct 08 11:33:17 2020 +0000
@@ -1,4 +1,4 @@
-//201008-5
+//201008-7
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -193,77 +193,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = { 
-   {-2.3152809143066406f,1.727402925491333f,0.12024858593940735f,0.3642372488975525f,-2.551915168762207f,1.6625466346740723f,-0.1628284603357315f,-0.2717422544956207f,-0.23101584613323212f,-0.023556355386972427f,-0.213934063911438f,-0.9510829448699951f,-0.46818628907203674f,-1.5005090236663818f,-0.2396446317434311f,-0.5505883693695068f},
-{-1.8617732524871826f,1.2280305624008179f,-0.36603355407714844f,0.020320722833275795f,-1.852152943611145f,0.9200283288955688f,-0.3777896761894226f,-0.26674363017082214f,-0.0329865925014019f,0.21348443627357483f,-0.24816828966140747f,-0.7358936667442322f,0.04711906611919403f,-1.5031263828277588f,-0.1953967958688736f,-0.21457244455814362f},
-{-1.328779697418213f,0.6305422186851501f,0.33912619948387146f,-0.36133837699890137f,-0.8119953870773315f,0.42370355129241943f,0.2676515281200409f,0.02444564737379551f,-0.10264942795038223f,0.2200983166694641f,-0.316930890083313f,-0.648487389087677f,-0.12411943823099136f,-0.5221869945526123f,0.05209478735923767f,-0.36078131198883057f},
-{-0.5197798013687134f,-0.32913661003112793f,0.3703531324863434f,0.20121149718761444f,0.17911207675933838f,-0.7240257859230042f,-0.10795548558235168f,0.3901039958000183f,0.0750034898519516f,0.3478025794029236f,0.09678419679403305f,0.0063720084726810455f,-0.22296254336833954f,0.06852824240922928f,-0.27597576379776f,0.02640494890511036f},
-{1.0433883666992188f,-1.2392282485961914f,-0.004794687032699585f,0.1031724065542221f,1.4619780778884888f,-1.5678507089614868f,0.12058994174003601f,0.1821904182434082f,0.08734194189310074f,0.17816007137298584f,0.33168479800224304f,0.4059227406978607f,-0.07882260531187057f,1.2437946796417236f,-0.36018112301826477f,-0.16798365116119385f},
-{2.857693910598755f,-3.3041610717773438f,0.20290347933769226f,0.07956814765930176f,3.318584680557251f,-3.3711345195770264f,0.15389427542686462f,0.06304170936346054f,0.09683135896921158f,0.18959861993789673f,-0.22322161495685577f,1.841825246810913f,-0.20501361787319183f,2.939310073852539f,-0.38513508439064026f,-0.0713680163025856f},
-{0.6324058771133423f,-0.43518802523612976f,-0.2331579178571701f,-0.3590847849845886f,-0.19355417788028717f,-0.17370332777500153f,0.05604562163352966f,-0.6124011278152466f,0.31069356203079224f,0.010415825061500072f,0.15558111667633057f,0.9956388473510742f,-0.26913198828697205f,1.016658067703247f,-0.14554673433303833f,-0.3392884135246277f},
-{0.44745802879333496f,-0.45198550820350647f,-0.24806702136993408f,0.13153602182865143f,-0.3461902439594269f,-0.2838374674320221f,-0.16704979538917542f,-0.5994587540626526f,-0.003078911919146776f,0.05557386949658394f,0.11294785887002945f,0.6535332202911377f,0.2496033012866974f,0.5708394646644592f,0.04009982943534851f,-0.12518605589866638f},
-{0.5713577270507812f,0.1668863445520401f,0.09550115466117859f,-0.32965824007987976f,-0.1708855777978897f,0.03479478880763054f,-0.06753402948379517f,-0.644003689289093f,-0.2797917127609253f,0.2735665440559387f,-0.26223233342170715f,0.6971666812896729f,0.12468379735946655f,0.49515432119369507f,-0.2847418785095215f,-0.1023692935705185f},
-{0.16310913860797882f,-0.11523257941007614f,0.17205187678337097f,-0.10984060168266296f,0.13215506076812744f,0.39142823219299316f,-0.2786858379840851f,-0.3326667249202728f,-0.03540360555052757f,-0.48883235454559326f,0.007313740439713001f,-1.0144288539886475f,0.2633468806743622f,-0.301626056432724f,0.3247623145580292f,-0.3123617470264435f},
-{0.09060637652873993f,0.751677393913269f,0.34649983048439026f,0.238347128033638f,-0.18993692100048065f,0.7072498202323914f,-0.1895401030778885f,-0.24043914675712585f,-0.4269353449344635f,-0.02136058919131756f,0.33979934453964233f,-2.280555486679077f,-0.13881582021713257f,-0.8600243330001831f,0.24870619177818298f,-0.6370449066162109f},
-{-1.2227174043655396f,0.8980315923690796f,-0.3757385015487671f,-0.016326511278748512f,-0.37785834074020386f,1.2150253057479858f,0.1429324448108673f,0.1361755132675171f,-0.16958828270435333f,0.14431153237819672f,-0.3707931339740753f,-2.920011520385742f,0.0691303163766861f,-1.61436927318573f,0.09779238700866699f,-0.41666141152381897f},
-{-0.3208516538143158f,0.4696144163608551f,0.18496140837669373f,0.10039933770895004f,0.34736987948417664f,0.8090188503265381f,-0.22405625879764557f,-0.032775260508060455f,-0.18931987881660461f,-0.22892595827579498f,-0.08640900999307632f,-2.58586049079895f,0.04208873212337494f,-0.8988630771636963f,-0.2075144499540329f,-0.6604486107826233f},
-{0.16262409090995789f,-0.01671232096850872f,0.38466766476631165f,-0.14667004346847534f,0.18218474090099335f,-0.10421261936426163f,-0.2982172966003418f,-0.40107446908950806f,-0.1390027552843094f,-0.2559940814971924f,-0.166481614112854f,-1.602246642112732f,-0.3095857799053192f,-0.24121171236038208f,0.04470124840736389f,-0.15184690058231354f},
-{0.5174210667610168f,-0.04763205349445343f,0.18900898098945618f,-0.028117891401052475f,0.5945087671279907f,-0.10929259657859802f,0.03916636109352112f,0.16368715465068817f,0.2704102098941803f,0.033244144171476364f,-0.24501635134220123f,-1.0999691486358643f,0.10306726396083832f,0.03853769227862358f,0.062258750200271606f,-0.027132803574204445f},
-{0.2914155125617981f,-0.4265623986721039f,-0.37685394287109375f,-0.1996072381734848f,-0.019203273579478264f,0.009786401875317097f,-0.14507901668548584f,-0.0853961631655693f,0.17501948773860931f,-0.047144565731287f,-0.4260883331298828f,-0.3157176971435547f,-0.22497230768203735f,0.23816914856433868f,-0.07684260606765747f,0.05888473987579346f},
-{0.13738799095153809f,-0.22142702341079712f,0.15568438172340393f,-0.058044277131557465f,-0.0232255682349205f,-0.14742983877658844f,-0.03859376907348633f,-0.050225719809532166f,-0.07352999597787857f,0.041070763021707535f,-0.3139238655567169f,0.17045529186725616f,0.14994587004184723f,0.5364378690719604f,0.2742314636707306f,-0.06731603294610977f},
-{0.15600940585136414f,-0.16535674035549164f,0.19490453600883484f,-0.3138192892074585f,-0.3106350898742676f,-0.08246537297964096f,-0.336474746465683f,0.05921122804284096f,-0.39584556221961975f,-0.15033116936683655f,-0.13937796652317047f,0.12563101947307587f,0.31835269927978516f,0.17374621331691742f,-0.2561379373073578f,-0.11289579421281815f},
-{-0.18690593540668488f,-0.06943024694919586f,-0.2776013910770416f,0.05439651012420654f,0.33863118290901184f,-0.03686759993433952f,0.25546005368232727f,-0.350205659866333f,-0.3939896523952484f,-0.004937915131449699f,-0.38015687465667725f,0.1677393615245819f,0.14523454010486603f,0.4078146517276764f,-0.30415377020835876f,-0.5786517262458801f},
-{0.26198509335517883f,0.24746471643447876f,0.1420871913433075f,-0.4235791265964508f,-0.377158522605896f,0.3205195367336273f,-0.13263443112373352f,-0.400607705116272f,-0.1832873523235321f,0.01716863363981247f,0.11593614518642426f,0.543384850025177f,0.2921818196773529f,0.42891642451286316f,0.13351169228553772f,0.00543095450848341f},
-{-0.2991099953651428f,-0.41585615277290344f,-0.07561364769935608f,-0.03986741602420807f,-0.4765874743461609f,-0.01874842494726181f,0.14428457617759705f,-0.02254398912191391f,-0.383146733045578f,-0.3092406094074249f,-0.3674323558807373f,0.6129317879676819f,-0.11757314205169678f,0.49564477801322937f,0.019461065530776978f,0.1277700960636139f},
-{-0.21371565759181976f,-0.8026935458183289f,0.2631795108318329f,-0.7004210948944092f,0.1280365288257599f,-0.4730685353279114f,0.27224990725517273f,0.006050639320164919f,-0.09381511807441711f,0.08090905845165253f,0.05304040387272835f,1.5589348077774048f,0.29210609197616577f,0.5046173930168152f,0.06011766195297241f,0.05217600241303444f},
+   {-1.202144980430603f,1.138988971710205f,0.12903714179992676f,0.4784081280231476f,-2.007096529006958f,1.1101239919662476f,-0.17472904920578003f,1.376711368560791f,-0.6657677292823792f,-1.2683919668197632f,-0.2366894781589508f,-2.119908571243286f,-0.27179795503616333f,-0.2513915002346039f,-0.2571594715118408f,-2.217491626739502f},
+{-1.038386583328247f,0.9783099293708801f,-0.3927857577800751f,0.1331273317337036f,-1.6192518472671509f,0.7398083209991455f,-0.4054011106491089f,0.999164342880249f,-0.3204660713672638f,-0.7893865704536438f,-0.2734762132167816f,-1.7904084920883179f,0.22786423563957214f,-0.6183355450630188f,-0.20967772603034973f,-1.7576642036437988f},
+{-0.8073722124099731f,0.723030686378479f,0.36391180753707886f,-0.25218313932418823f,-0.8648297190666199f,0.646933913230896f,0.2872133255004883f,0.9005036354064941f,-0.26115748286247253f,-0.5288271307945251f,-0.3473871052265167f,-1.568228840827942f,-0.010325154289603233f,0.032464317977428436f,0.05590221285820007f,-1.797452688217163f},
+{-0.30040138959884644f,-0.03466230630874634f,0.39742106199264526f,0.37627866864204407f,-0.06165529042482376f,-0.24948622286319733f,-0.11584559082984924f,0.6195026636123657f,0.0672391802072525f,0.11928713321685791f,0.09644106775522232f,-0.6219649910926819f,-0.1723935604095459f,0.1230471059679985f,-0.2961459457874298f,-1.0144660472869873f},
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+{2.2739834785461426f,-3.384673595428467f,0.21773302555084229f,0.2994205355644226f,3.3027589321136475f,-3.102123737335205f,0.16514194011688232f,-3.0555598735809326f,0.3947591781616211f,2.9011330604553223f,-0.2471718192100525f,2.413551092147827f,-0.27255699038505554f,0.875239372253418f,-0.4132833778858185f,1.5249680280685425f},
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+{-0.5333747863769531f,0.6159882545471191f,-0.26619744300842285f,-0.10663940757513046f,-0.6672677397727966f,0.7491434812545776f,-0.17925891280174255f,0.45909467339515686f,-0.061611875891685486f,-0.5273573398590088f,0.10323914140462875f,-0.1594064086675644f,0.3640030324459076f,0.04273512586951256f,0.04303058981895447f,0.4016958773136139f},
+{-0.06486926227807999f,0.5101504325866699f,0.10248100757598877f,-0.6076595187187195f,-0.22489143908023834f,0.28914013504981995f,-0.07246989011764526f,-0.32467958331108093f,-0.3318542540073395f,0.43399131298065186f,-0.29930150508880615f,0.8827233910560608f,0.2215290069580078f,0.17675165832042694f,-0.30555272102355957f,1.0407618284225464f},
+{0.0067978473380208015f,-0.538397490978241f,0.18462657928466797f,-0.3743363916873932f,0.18972061574459076f,-0.09740876406431198f,-0.2990540862083435f,-0.5601083636283875f,-0.039114855229854584f,0.16344060003757477f,-0.010178256779909134f,0.4692024886608124f,0.36460021138191223f,-0.18887411057949066f,0.3484981060028076f,1.2080103158950806f},
+{0.5042862892150879f,-0.23018865287303925f,0.37182438373565674f,0.0031008694786578417f,-0.13351543247699738f,-0.37750890851020813f,-0.20339298248291016f,-0.5399224162101746f,-0.4469622075557709f,0.7113228440284729f,0.34657230973243713f,0.5766669511795044f,-0.07425376027822495f,0.058319900184869766f,0.26688337326049805f,0.7508887648582458f},
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+{-0.10107079893350601f,-0.23446384072303772f,0.19847965240478516f,-0.11969888210296631f,-0.07624413073062897f,0.021741967648267746f,-0.2404318004846573f,-0.14804726839065552f,-0.20712880790233612f,0.17828989028930664f,-0.11077233403921127f,0.1089673861861229f,0.08429888635873795f,0.060614317655563354f,-0.22268100082874298f,0.13039818406105042f},
+{-0.22510682046413422f,-0.12380469590425491f,0.4127817749977112f,-0.3654475212097168f,-0.4933675229549408f,-0.36989352107048035f,-0.32001304626464844f,-0.5990984439849854f,-0.17157448828220367f,0.11538881808519363f,-0.19669756293296814f,0.046649251133203506f,-0.32045069336891174f,-0.04418804123997688f,0.0479682981967926f,0.4848869740962982f},
+{0.08632653206586838f,0.06087305769324303f,0.20282304286956787f,-0.21891111135482788f,0.13672329485416412f,-0.18774953484535217f,0.04202890396118164f,0.043800003826618195f,0.25277137756347656f,0.3155035078525543f,-0.2811494767665863f,-0.37795940041542053f,0.09589854627847672f,-0.07150355726480484f,0.0668090283870697f,0.3614422380924225f},
+{-0.14654578268527985f,-0.3255223035812378f,-0.40439701080322266f,-0.3830048739910126f,-0.2781727612018585f,-0.08479150384664536f,-0.15568238496780396f,-0.3112363815307617f,0.14826036989688873f,0.26614072918891907f,-0.47562071681022644f,-0.1283193975687027f,-0.2787332534790039f,-0.02893819846212864f,-0.08245879411697388f,0.2619592249393463f},
+{-0.1407018005847931f,-0.28579166531562805f,0.16706281900405884f,-0.21144752204418182f,-0.025171607732772827f,-0.4996216595172882f,-0.041414469480514526f,-0.4635230600833893f,-0.10190882533788681f,0.5193468332290649f,-0.3552822470664978f,0.2423761785030365f,0.10444391518831253f,0.3413086235523224f,0.29427415132522583f,-0.02577020600438118f},
 };
 
 const float h2[16][16] = { 
-    {-0.2627347707748413f,1.6072235107421875f,-0.06966331601142883f,1.3059860467910767f,-0.21907491981983185f,-10.074268341064453f,-0.10165838152170181f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.889585018157959f,-0.4408711791038513f,0.09407905489206314f,-2.1551506519317627f,-1.681544303894043f,-8.785170555114746f},
-{-0.07196462154388428f,-0.46957844495773315f,0.057057321071624756f,-0.3067782521247864f,-0.35503754019737244f,-3.547255277633667f,-0.42634716629981995f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.7903809547424316f,-0.6991819143295288f,0.27004608511924744f,0.7093417644500732f,0.9480265378952026f,-2.6635963916778564f},
+    {-0.42087849974632263f,0.4165714979171753f,-0.06966331601142883f,-0.40978044271469116f,-0.21907491981983185f,0.19977861642837524f,-0.09562018513679504f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-5.7234206199646f,-0.3770526647567749f,-2.265185832977295f,-1.3839008808135986f,-0.46374428272247314f,-0.3703479766845703f},
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 };
 
 const float h3[16][16] = { 
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-{0.15459725260734558f,0.72439044713974f,-0.5466641187667847f,-0.7720921635627747f,-0.6371919512748718f,0.7213203310966492f,-0.08742031455039978f,0.05785742402076721f,-1.262664794921875f,-0.5998016595840454f,-0.17241103947162628f,-2.2987046241760254f,-3.9738259315490723f,-1.018069863319397f,0.1471223384141922f,0.12088090926408768f},
-{-0.408692330121994f,-0.01745096780359745f,0.09452779591083527f,0.06247909367084503f,0.015625588595867157f,-0.2146359384059906f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4221092760562897f,-0.379727303981781f,-0.3349076807498932f,0.31518054008483887f},
-{-0.2991822361946106f,0.29517999291419983f,0.0042093913070857525f,0.024277420714497566f,0.16840599477291107f,0.15824651718139648f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.09814348071813583f,-0.21696944534778595f,0.27826768159866333f,-0.16869547963142395f},
-{-0.2675279378890991f,-0.770762026309967f,1.6120538711547852f,-0.20645307004451752f,-0.15061108767986298f,-0.16551825404167175f,-0.32875844836235046f,-0.31893211603164673f,-1.4138376712799072f,-0.8004869818687439f,-0.3685331642627716f,-1.5057293176651f,0.1274058073759079f,-1.585729718208313f,0.1306980550289154f,0.1441774070262909f},
-{-0.015470266342163086f,-1.9857964515686035f,1.6790562868118286f,0.4655911922454834f,-0.08354365080595016f,-2.514406442642212f,0.05196094512939453f,-0.008358269929885864f,-4.3329997062683105f,-0.579310953617096f,0.13179203867912292f,-0.040511056780815125f,2.757723093032837f,-2.6764187812805176f,0.035064682364463806f,-0.5825209021568298f},
-{0.1863725483417511f,1.4100269079208374f,0.11397874355316162f,-0.8381223678588867f,0.6091724038124084f,0.9195526838302612f,0.04860696196556091f,0.17769548296928406f,0.4023902416229248f,-0.09889062494039536f,-0.5419447422027588f,0.34525805711746216f,-0.9069976806640625f,1.014098882675171f,-0.04629502072930336f,-0.16994908452033997f},
+{0.15459725260734558f,0.2284596711397171f,-0.14678864181041718f,-0.2826405167579651f,-3.0918989181518555f,0.1449601799249649f,-0.08742031455039978f,-0.9357023239135742f,-0.13340064883232117f,-0.2220277339220047f,0.0040720803663134575f,0.17651532590389252f,-0.8968222737312317f,0.21969160437583923f,0.5914236307144165f,-0.8322000503540039f},
+{-0.408692330121994f,-0.050453294068574905f,-0.15351682901382446f,0.0922636091709137f,-0.35955044627189636f,0.12949898838996887f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,-0.05215730890631676f,-0.6658473014831543f,0.16470779478549957f,-0.23339450359344482f,-0.040699247270822525f},
+{-0.2991822361946106f,0.32027140259742737f,-0.5629739761352539f,-0.05932474136352539f,-1.0874625444412231f,1.0245612859725952f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.22929511964321136f,0.19547978043556213f,0.5248737335205078f,0.36124154925346375f,0.27143019437789917f},
+{-0.2675279378890991f,-0.39045897126197815f,-0.05424119159579277f,-0.13007770478725433f,1.437944769859314f,-1.7302147150039673f,-0.3452095687389374f,-1.4223114252090454f,-0.745403528213501f,-0.7274325489997864f,-0.49066221714019775f,-1.6464046239852905f,0.8509430885314941f,-0.8237955570220947f,0.001911899889819324f,0.6988413333892822f},
+{-0.015470266342163086f,-0.529937207698822f,0.35546091198921204f,0.348036527633667f,0.1403835117816925f,-0.4197324514389038f,0.05196094512939453f,-0.008358269929885864f,-0.40752580761909485f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,0.34031230211257935f,-0.04929199069738388f,-0.09811098128557205f,-0.19937199354171753f},
+{0.1863725483417511f,0.18601037561893463f,-0.15775355696678162f,-0.46877092123031616f,0.44797858595848083f,0.024585137143731117f,0.04860696196556091f,0.17769548296928406f,-0.0749552771449089f,0.3378079831600189f,-0.5061431527137756f,0.19592127203941345f,0.3813547194004059f,0.09455892443656921f,-0.05183706805109978f,-0.012699469923973083f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.23122456669807434f,-0.18602921068668365f,-0.3125866651535034f,-0.029993798583745956f,0.20471511781215668f,0.0030125975608825684f,0.15066689252853394f,-0.5208629369735718f,0.004466731566935778f,0.08295199275016785f,-0.26822465658187866f,-0.3498326539993286f,0.026779841631650925f,0.07775511592626572f,-0.060560304671525955f };
+const float hout[16] = { 0.45773375034332275f,0.6764231324195862f,0.41992294788360596f,-0.06468239426612854f,0.17464998364448547f,0.24689403176307678f,0.04647764563560486f,0.2595721483230591f,0.08323294669389725f,0.11144406348466873f,0.14762791991233826f,-0.36595073342323303f,-0.6349490880966187f,0.21191029250621796f,0.6433769464492798f,-0.2769685387611389f };
 
-const float b1[16] = { 1.3190714120864868f,1.5952208042144775f,-1.7145336866378784f,0.3097442090511322f,0.9651374220848083f,1.5615040063858032f,-0.058932315558195114f,0.8412410616874695f,0.534761905670166f,-0.8942662477493286f,0.5916527509689331f,3.810105562210083f,-0.45955052971839905f,-0.3557904064655304f,-1.087764859199524f,0.9899064898490906f };
+const float b1[16] = { 0.3696094751358032f,1.7992044687271118f,-1.7145336866378784f,0.18997706472873688f,0.9549577832221985f,1.690210223197937f,-0.058932315558195114f,1.68743896484375f,0.44077587127685547f,-1.493913173675537f,0.5701789855957031f,1.6503576040267944f,-0.37873172760009766f,-0.894616961479187f,-1.087764859199524f,1.5419913530349731f };
 
-const float b2[16] = { -0.2645142376422882f,-0.2895103693008423f,-1.4564176797866821f,-0.49256083369255066f,-0.6939148902893066f,0.8274815082550049f,0.09697892516851425f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.27735763788223267f,0.3822407126426697f,-0.14580224454402924f,1.841172695159912f,0.46085551381111145f,0.41733479499816895f };
+const float b2[16] = { -0.2885071039199829f,-1.014089822769165f,-1.4564176797866821f,-0.7668818831443787f,-0.5584616661071777f,-0.49620234966278076f,0.03875614330172539f,-0.4831103980541229f,-1.20063054561615f,-1.912178635597229f,-0.32878178358078003f,0.04990300163626671f,-0.5751988887786865f,2.2356293201446533f,-0.2019418329000473f,0.697745680809021f };
 
-const float b3[16] = { -1.963319182395935f,-0.4159342348575592f,0.1794152706861496f,-0.4108562469482422f,-0.21904510259628296f,0.0030512125231325626f,-0.45353031158447266f,-0.6562485098838806f,-0.5568499565124512f,0.06824243813753128f,-0.44575250148773193f,2.5458240509033203f,-3.0509939193725586f,-0.7597270607948303f,-1.5004441738128662f,-0.6097174286842346f };
+const float b3[16] = { -1.963319182395935f,-0.5902930498123169f,0.1656760722398758f,-0.26326483488082886f,-2.454986333847046f,-0.20164278149604797f,-0.6144739985466003f,-0.6377184391021729f,-0.11426637321710587f,-0.05030348151922226f,-0.26522213220596313f,2.0851621627807617f,-1.2783746719360352f,1.249510407447815f,-1.4266045093536377f,-0.08144649863243103f };
 
-const float bout[1] = { -0.21177443861961365f };
+const float bout[1] = { 0.05578257516026497f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;
@@ -405,8 +400,8 @@
             input_NN[ind] = torq.sen / 10000.0f + 0.5f;
             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+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] - torq.sen)/10000.0f+0.5f;
+//                input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
                 ind = ind + 1;
             }