Diff: main.cpp

Revision:

213:3e7bee70a0b4

Parent:

212:ec41f1449ef9

diff -r ec41f1449ef9 -r 3e7bee70a0b4 main.cpp
--- a/main.cpp	Wed Dec 23 11:22:31 2020 +0000
+++ b/main.cpp	Wed Dec 23 15:20:09 2020 +0000
@@ -1,4 +1,4 @@
-//201223_4
+//201223_5
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -85,7 +85,7 @@
 extern int CID_TX_VALVE_POSITION;
 
 
-
+float V_output = 0.0f;
 
 // =============================================================================
 // =============================================================================
@@ -199,72 +199,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = {
-    {-1.6070621013641357f,1.4444793462753296f,0.12903714179992676f,0.45971256494522095f,-1.8895007371902466f,1.5912665128707886f,-0.17472904920578003f,1.3318427801132202f,-2.261326551437378f,-0.03385619446635246f,-0.23437689244747162f,-1.2534494400024414f,-0.26408806443214417f,-1.1718051433563232f,-0.2571594715118408f,-1.0255193710327148f},
-{-1.0846422910690308f,0.8761099576950073f,-0.3927857577800751f,0.10885071754455566f,-1.2603814601898193f,0.7932608127593994f,-0.4054011106491089f,0.5438631772994995f,-1.546224594116211f,0.22130662202835083f,-0.27116647362709045f,-0.7526845335960388f,0.23553097248077393f,-1.0961291790008545f,-0.20967772603034973f,-0.659416675567627f},
-{-0.8406979441642761f,0.5655145645141602f,0.36391180753707886f,-0.2829425036907196f,-0.6366292238235474f,0.6242642402648926f,0.2872133255004883f,0.39269590377807617f,-1.4623386859893799f,0.22947895526885986f,-0.34503698348999023f,-0.4441416561603546f,-0.00272137182764709f,-0.3268943130970001f,0.05590221285820007f,-1.1436342000961304f},
-{-0.35294806957244873f,-0.09107200056314468f,0.39742106199264526f,0.33738622069358826f,-0.11074129492044449f,-0.19795556366443634f,-0.11584559082984924f,0.2239270806312561f,-1.016740083694458f,0.367963969707489f,0.09880797564983368f,0.34261059761047363f,-0.16485224664211273f,-0.02963976189494133f,-0.2961459457874298f,-0.9800482988357544f},
-{1.1172692775726318f,-0.881708025932312f,-0.0051451027393341064f,0.24785789847373962f,0.949159562587738f,-0.8879446387290955f,0.1294034719467163f,-1.1183830499649048f,-0.18216757476329803f,0.18784251809120178f,0.35077041387557983f,0.5736857056617737f,-0.06842327117919922f,1.0481723546981812f,-0.3865056037902832f,-0.9325311183929443f},
-{3.2859668731689453f,-3.373445987701416f,0.21773302555084229f,0.23583510518074036f,3.153277635574341f,-3.0842037200927734f,0.16514194011688232f,-3.330359697341919f,1.6308770179748535f,0.20284788310527802f,-0.24478337168693542f,1.4629696607589722f,-0.26506540179252625f,3.084402084350586f,-0.4132833778858185f,0.3235807716846466f},
-{-0.16239909827709198f,0.652294397354126f,-0.2501986622810364f,-0.7905404567718506f,-0.6188644766807556f,0.8528907299041748f,0.06014183163642883f,-0.4905660152435303f,1.5433074235916138f,-0.1533675193786621f,0.15192021429538727f,-0.10490059852600098f,-0.1730978935956955f,0.015356072224676609f,-0.15618428587913513f,0.5344299077987671f},
-{-0.8749822974205017f,0.6992738246917725f,-0.26619744300842285f,-0.08359992504119873f,-1.2196704149246216f,0.7197252511978149f,-0.17925891280174255f,0.24655599892139435f,0.32290568947792053f,0.030707592144608498f,0.10629666596651077f,-0.48497965931892395f,0.37155985832214355f,-0.5724732875823975f,0.04303058981895447f,0.5185656547546387f},
-{0.44704651832580566f,0.0694582387804985f,0.10248100757598877f,-0.6408140659332275f,0.08685804158449173f,-0.24289385974407196f,-0.07246989011764526f,-0.8823809623718262f,0.975390613079071f,0.2915976345539093f,-0.2963060140609741f,0.3272884786128998f,0.22921693325042725f,0.7061342597007751f,-0.30555272102355957f,1.1997355222702026f},
-{0.10269708186388016f,-0.4119151830673218f,0.18462657928466797f,-0.4237739145755768f,0.28614145517349243f,-0.0384453721344471f,-0.2990540862083435f,-0.3690754175186157f,1.0338808298110962f,-0.506875216960907f,-0.007301787845790386f,-0.4488030672073364f,0.372331827878952f,0.18725666403770447f,0.3484981060028076f,0.7741178274154663f},
-{0.4530973434448242f,0.06094556301832199f,0.37182438373565674f,-0.03273813799023628f,0.0016666745068505406f,-0.13683553040027618f,-0.20339298248291016f,0.0006952928379178047f,0.36829644441604614f,0.007492598611861467f,0.3493041396141052f,-0.34462884068489075f,-0.06654797494411469f,0.2495005875825882f,0.26688337326049805f,0.2787923216819763f},
-{-0.41628196835517883f,-0.34683796763420105f,-0.40320003032684326f,-0.26510435342788696f,0.01427370309829712f,-0.12881697714328766f,0.1533789038658142f,0.6213264465332031f,0.43982186913490295f,0.1924997866153717f,-0.41328826546669006f,-0.0027057332918047905f,0.14470605552196503f,0.13542859256267548f,0.10493969917297363f,0.358428418636322f},
-{-0.09863808006048203f,-0.15524423122406006f,0.19847965240478516f,-0.08667934685945511f,0.2108737826347351f,0.0608486607670784f,-0.2404318004846573f,0.5305993556976318f,0.29834941029548645f,-0.20526979863643646f,-0.10813693702220917f,-0.45609328150749207f,0.09201034903526306f,0.16512572765350342f,-0.22268100082874298f,-0.07933637499809265f},
-{-0.1803528368473053f,-0.07565825432538986f,0.4127817749977112f,-0.29987478256225586f,-0.3406386971473694f,-0.3658057749271393f,-0.32001304626464844f,0.18756037950515747f,0.23431532084941864f,-0.23265855014324188f,-0.19404397904872894f,-0.44801175594329834f,-0.31276315450668335f,0.09663949906826019f,0.0479682981967926f,0.23482243716716766f},
-{0.09787440299987793f,0.05535588413476944f,0.20282304286956787f,-0.1285126656293869f,0.21852988004684448f,-0.23995305597782135f,0.04202890396118164f,0.899287223815918f,0.4933943748474121f,0.07827243953943253f,-0.2784428298473358f,-0.7169914841651917f,0.10353262722492218f,0.041469767689704895f,0.0668090283870697f,0.10634815692901611f},
-{-0.17166218161582947f,-0.24739637970924377f,-0.40439701080322266f,-0.278349369764328f,-0.34712228178977966f,-0.047724951058626175f,-0.15568238496780396f,0.7170681357383728f,0.2422538846731186f,-0.006808132864534855f,-0.47287464141845703f,-0.4041852056980133f,-0.2711547017097473f,0.0345175676047802f,-0.08245879411697388f,-0.017156904563307762f},
-{0.10945872962474823f,-0.3796606957912445f,0.16706281900405884f,-0.1058274433016777f,0.09715140610933304f,-0.6114601492881775f,-0.041414469480514526f,0.459582656621933f,0.15684588253498077f,0.09002777934074402f,-0.35252657532691956f,0.13107328116893768f,0.11200001835823059f,0.6847966313362122f,0.29427415132522583f,-0.10886158049106598f},
+    {-1.5377649068832397f,1.2348084449768066f,0.12903714179992676f,-0.7775466442108154f,-1.7313402891159058f,1.1328696012496948f,-0.17472904920578003f,-0.31568053364753723f,-1.6451395750045776f,0.08867859095335007f,-0.23520143330097198f,-1.8044253587722778f,-0.2673356235027313f,-0.7325633764266968f,-0.2571594715118408f,1.472490906715393f},
+{-1.1286786794662476f,0.7839595675468445f,-0.3927857577800751f,-0.6969871520996094f,-1.2280852794647217f,0.48096179962158203f,-0.4054011106491089f,-0.3208436667919159f,-1.0162376165390015f,0.3468303382396698f,-0.2720212936401367f,-1.157413363456726f,0.232293039560318f,-0.9538101553916931f,-0.20967772603034973f,1.1393009424209595f},
+{-0.81263667345047f,0.40442758798599243f,0.36391180753707886f,-0.7410301566123962f,-0.5623536705970764f,0.26899170875549316f,0.2872133255004883f,-0.01752573810517788f,-0.8192043304443359f,0.35837459564208984f,-0.3459203839302063f,-0.7548978924751282f,-0.0059507424011826515f,-0.33420637249946594f,0.05590221285820007f,0.33579739928245544f},
+{-0.29265180230140686f,-0.27822574973106384f,0.39742106199264526f,0.2536725103855133f,-0.03869828209280968f,-0.5511156320571899f,-0.11584559082984924f,0.37218543887138367f,-0.2952747344970703f,0.5005717277526855f,0.09789774566888809f,0.15287092328071594f,-0.1680694818496704f,-0.221437469124794f,-0.2961459457874298f,0.03926409035921097f},
+{0.9285116791725159f,-0.8077948093414307f,-0.0051451027393341064f,0.6920914649963379f,0.7559896111488342f,-0.9459089040756226f,0.1294034719467163f,0.15902996063232422f,0.3258247375488281f,0.32459303736686707f,0.3498339056968689f,0.6136358380317688f,-0.07163341343402863f,0.4614284634590149f,-0.3865056037902832f,-1.0294679403305054f},
+{2.3463828563690186f,-2.5303292274475098f,0.21773302555084229f,1.477303147315979f,2.240800619125366f,-2.3303043842315674f,0.16514194011688232f,0.05813070386648178f,1.3986808061599731f,0.34440353512763977f,-0.24573767185211182f,1.9037261009216309f,-0.268279105424881f,1.7655072212219238f,-0.4132833778858185f,-1.9700273275375366f},
+{-0.4369703531265259f,0.7387278079986572f,-0.2501986622810364f,-0.9271978139877319f,-1.1423627138137817f,1.097220540046692f,0.06014183163642883f,-1.050276517868042f,0.13420486450195312f,-0.2703655958175659f,0.15077415108680725f,-0.04091700538992882f,-0.17465755343437195f,-1.6798783540725708f,-0.15618428587913513f,-1.5135868787765503f},
+{-0.13573184609413147f,0.13010674715042114f,-0.26619744300842285f,-0.0794379785656929f,-0.70912104845047f,0.31772083044052124f,-0.17925891280174255f,-0.7659602761268616f,0.01908610202372074f,-0.16886766254901886f,0.10512365400791168f,-0.2623549699783325f,0.3695131838321686f,-0.7335740327835083f,0.04303058981895447f,-1.0657305717468262f},
+{0.7555938363075256f,-0.021008117124438286f,0.10248100757598877f,-0.00994115136563778f,0.31521323323249817f,-0.2205902636051178f,-0.07246989011764526f,-0.5589467883110046f,0.3382551074028015f,0.11823058128356934f,-0.29748186469078064f,0.6377660036087036f,0.22716356813907623f,1.0021276473999023f,-0.30555272102355957f,-0.732044517993927f},
+{0.3232681155204773f,-0.40787485241889954f,0.18462657928466797f,0.12388432025909424f,0.49224865436553955f,0.06522741168737411f,-0.2990540862083435f,-0.13266541063785553f,0.48252439498901367f,-0.6622780561447144f,-0.008490024134516716f,-0.3987669348716736f,0.3702549934387207f,0.7228370904922485f,0.3484981060028076f,-0.32474222779273987f},
+{0.5499926209449768f,0.16501271724700928f,0.37182438373565674f,0.2804836630821228f,0.1178550198674202f,0.07621731609106064f,-0.20339298248291016f,-0.033771634101867676f,-0.12858600914478302f,-0.13823570311069489f,0.34812381863594055f,-0.4757518470287323f,-0.0686570256948471f,0.7044376134872437f,0.26688337326049805f,-0.16891999542713165f},
+{-0.32638248801231384f,-0.2681056559085846f,-0.40320003032684326f,-0.0554439052939415f,0.13748574256896973f,0.08285294473171234f,0.1533789038658142f,0.3311554193496704f,0.001971070421859622f,0.052262917160987854f,-0.41445285081863403f,-0.10799311101436615f,0.14259445667266846f,0.46168866753578186f,0.10493969917297363f,0.2548428475856781f},
+{-0.027842355892062187f,-0.08303984254598618f,0.19847965240478516f,0.09461163729429245f,0.32331663370132446f,0.2865959703922272f,-0.2404318004846573f,0.08309822529554367f,-0.1785000115633011f,-0.3414570987224579f,-0.10929234325885773f,-0.48389771580696106f,0.08989179879426956f,0.35135433077812195f,-0.22268100082874298f,0.014733131974935532f},
+{-0.06475397944450378f,-0.0561961904168129f,0.4127817749977112f,-0.10577572137117386f,-0.17697541415691376f,-0.1849510818719864f,-0.32001304626464844f,-0.36673668026924133f,-0.21330887079238892f,-0.3657089173793793f,-0.1951775997877121f,-0.3619512915611267f,-0.31488466262817383f,0.26527494192123413f,0.0479682981967926f,0.45723286271095276f},
+{0.10058767348527908f,0.18761076033115387f,0.20282304286956787f,-0.08738672733306885f,0.2697560787200928f,0.0342223234474659f,0.04202890396118164f,0.20938999950885773f,0.05025419965386391f,-0.052940960973501205f,-0.27958524227142334f,-0.7458251714706421f,0.10142271965742111f,0.16368134319782257f,0.0668090283870697f,0.6141231656074524f},
+{-0.1128726527094841f,-0.1546522080898285f,-0.40439701080322266f,-0.30092698335647583f,-0.24299722909927368f,0.15388551354408264f,-0.15568238496780396f,-0.037944644689559937f,0.05713915079832077f,-0.13745471835136414f,-0.47403645515441895f,-0.43296101689338684f,-0.27326998114585876f,0.4320793151855469f,-0.08245879411697388f,0.5419437885284424f},
+{0.04264898970723152f,-0.14219117164611816f,0.16706281900405884f,-0.06084718555212021f,0.0778137817978859f,-0.31440258026123047f,-0.041414469480514526f,0.07056988030672073f,0.15166155993938446f,-0.038817811757326126f,-0.3537028133869171f,0.07804109901189804f,0.10987777262926102f,1.3651574850082397f,0.29427415132522583f,0.09650146216154099f},
 };
 
 const float h2[16][16] = {
-    {-0.2100285440683365f,0.5450449585914612f,-0.06966331601142883f,-0.16327691078186035f,-0.21907491981983185f,-0.7174352407455444f,-0.08997400104999542f,0.03496444225311279f,-0.43008196353912354f,-0.1415480375289917f,-1.024130940437317f,-0.43296945095062256f,0.12968102097511292f,-1.543792724609375f,-0.4490607678890228f,-4.010191440582275f},
-{0.09335885941982269f,-2.328054904937744f,0.057057321071624756f,-0.4136889576911926f,-0.35503754019737244f,-1.8548954725265503f,-0.5476264953613281f,-0.3163917064666748f,-0.33757925033569336f,0.2895788848400116f,-3.989751100540161f,-0.2958875000476837f,0.33698758482933044f,2.3762283325195312f,-0.10209953784942627f,-1.2367063760757446f},
+    {-0.30360984802246094f,2.638908863067627f,-0.06966331601142883f,-2.1284985542297363f,-0.21907491981983185f,1.5969719886779785f,-0.11378823220729828f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.2562443017959595f,-0.4410564601421356f,-0.013608419336378574f,-2.052125930786133f,-0.3983412981033325f,-1.9826109409332275f},
+{0.04869420453906059f,-0.9130892157554626f,0.057057321071624756f,-0.5089913010597229f,-0.35503754019737244f,-1.2973040342330933f,-1.0162988901138306f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.071617841720581f,-0.8869436383247375f,0.23050862550735474f,1.0951136350631714f,1.5778846740722656f,-1.7874358892440796f},
 {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
-{0.05469902977347374f,-0.25110578536987305f,-0.2894435524940491f,0.5345750451087952f,0.08946844935417175f,0.4574865400791168f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.3205234110355377f,0.3810727894306183f,-0.404754102230072f,-0.2590928077697754f,0.2257760912179947f,0.16342028975486755f},
-{-0.25391754508018494f,0.49998918175697327f,-0.25313520431518555f,0.0678805261850357f,0.036378175020217896f,-0.5025586485862732f,-0.58262699842453f,-0.12088710814714432f,-0.024399548768997192f,-0.39465832710266113f,-1.5418189764022827f,-0.7374540567398071f,0.10077962279319763f,-0.42483294010162354f,-0.49100643396377563f,-0.64886075258255f},
-{0.34239134192466736f,-1.3530895709991455f,-0.3519742488861084f,0.014243300072848797f,-0.3015052080154419f,-1.4964323043823242f,-0.6469179391860962f,-0.04728340730071068f,-0.23047015070915222f,0.3579089343547821f,-2.080329179763794f,-0.22948884963989258f,-0.20959392189979553f,1.1190712451934814f,0.13593792915344238f,-2.15841007232666f},
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 };
 
 const float h3[16][16] = {
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+{0.15459725260734558f,0.8423792719841003f,-0.08067841827869415f,-0.6714912056922913f,-0.44800329208374023f,0.3429917097091675f,-0.08742031455039978f,0.05785742402076721f,-0.19653022289276123f,-0.34943631291389465f,-0.009556683711707592f,-0.30447322130203247f,-0.12912006676197052f,-0.036994293332099915f,0.5005905032157898f,0.3082493841648102f},
+{-0.408692330121994f,0.00016882641648408026f,0.07694726437330246f,-0.20951619744300842f,-0.07695908844470978f,-0.13925538957118988f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4803943336009979f,-0.1641838550567627f,-0.133147731423378f,0.31533604860305786f},
+{-0.2991822361946106f,0.379294216632843f,-0.07897943258285522f,-0.09465082734823227f,0.08582660555839539f,0.2713330388069153f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.004417163785547018f,-0.10467953234910965f,0.36124154925346375f,-0.16869547963142395f},
+{-0.2675279378890991f,-0.34640875458717346f,-0.44033652544021606f,0.997279942035675f,0.1495940089225769f,0.5893060564994812f,-0.32875844836235046f,-0.31893211603164673f,-0.8021053075790405f,-0.7621317505836487f,-0.5216618776321411f,-0.5296260714530945f,1.14543616771698f,-0.7926355600357056f,0.11776287108659744f,0.18698225915431976f},
+{-0.015470266342163086f,-1.1242914199829102f,-1.333337664604187f,0.5949698090553284f,-1.0383976697921753f,-2.408407688140869f,0.05196094512939453f,-0.008358269929885864f,-0.6119314432144165f,-0.6426531076431274f,0.13179203867912292f,-0.04501182585954666f,-1.284587025642395f,2.8592796325683594f,-0.5470286011695862f,-0.4591246545314789f},
+{0.1863725483417511f,2.1868832111358643f,-0.9707214832305908f,-0.549004316329956f,-0.573555052280426f,1.7018946409225464f,0.04860696196556091f,0.17769548296928406f,-0.08241094648838043f,0.22327333688735962f,-0.3929237127304077f,0.19592127203941345f,0.30913761258125305f,1.387982726097107f,0.10862469673156738f,-0.1303754299879074f},
 };
 
-const float hout[16] = { 0.45773375034332275f,1.3250397443771362f,-0.4248747229576111f,-0.16762784123420715f,-0.8701521158218384f,-0.003051317995414138f,0.0030125975608825684f,0.15066689252853394f,-0.0765313059091568f,0.410363107919693f,0.11355479061603546f,-0.2710728645324707f,-1.0137888193130493f,0.31872233748435974f,0.46201157569885254f,-0.1275034099817276f };
-
-const float b1[16] = { 0.34279701113700867f,1.5129735469818115f,-1.7145336866378784f,0.27451324462890625f,0.7754346132278442f,1.2727166414260864f,-0.058932315558195114f,0.9473782777786255f,1.5622917413711548f,-1.0377662181854248f,0.5732393264770508f,1.2818049192428589f,-0.37127330899238586f,-1.0851714611053467f,-1.087764859199524f,2.291581153869629f };
-
-const float b2[16] = { -0.1286313831806183f,-1.2512075901031494f,-1.4564176797866821f,-0.8030261397361755f,-0.6939148902893066f,-0.16376319527626038f,0.1311706006526947f,-0.3665841221809387f,-1.20063054561615f,-1.912178635597229f,-0.45517241954803467f,0.411864310503006f,-0.07918518036603928f,1.8873447179794312f,-0.0411815345287323f,0.7242259383201599f };
-
-const float b3[16] = { -1.963319182395935f,-0.7351341247558594f,0.32978370785713196f,-0.1386529505252838f,0.019260885193943977f,-0.056516703218221664f,-0.45353031158447266f,-0.6562485098838806f,-0.015211169607937336f,0.6103503704071045f,-0.34831100702285767f,-0.014407366514205933f,-0.753882646560669f,-1.2588518857955933f,-1.226777195930481f,-0.5482154488563538f };
-
-const float bout[1] = { 0.2236381620168686f };
+const float hout[16] = { 0.45773375034332275f,0.6198812127113342f,3.075077533721924f,-0.6007036566734314f,0.24847236275672913f,1.247266173362732f,0.0030125975608825684f,0.15066689252853394f,0.05033086612820625f,0.0533946268260479f,0.11185391992330551f,-0.1749655306339264f,-1.0110498666763306f,1.219071388244629f,1.8872015476226807f,-0.16191136837005615f };
+
+const float b1[16] = { 0.5638260245323181f,1.1806942224502563f,-1.7145336866378784f,0.24818021059036255f,0.8975874781608582f,1.2844585180282593f,-0.058932315558195114f,0.825614333152771f,1.6077704429626465f,-1.1153591871261597f,0.5720832943916321f,1.1545846462249756f,-0.3732912540435791f,-1.3868684768676758f,-1.087764859199524f,0.9789383411407471f };
+
+const float b2[16] = { -0.2617855966091156f,-0.8839436173439026f,-1.4564176797866821f,-0.6468855738639832f,-0.6939148902893066f,0.16817186772823334f,0.09135577827692032f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.1662583202123642f,0.14832311868667603f,-0.23087339103221893f,1.7029191255569458f,0.10706561803817749f,0.5922772884368896f };
+
+const float b3[16] = { -1.963319182395935f,-0.13796980679035187f,-0.907817006111145f,0.09013273566961288f,-0.1457054167985916f,0.9321498870849609f,-0.45353031158447266f,-0.6562485098838806f,-0.01854712702333927f,-0.023044707253575325f,-0.4521785378456116f,-0.06036800891160965f,-1.33890962600708f,0.4787708818912506f,-1.2732046842575073f,-0.41846638917922974f };
+
+const float bout[1] = { -1.3581293821334839f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };
@@ -576,7 +576,7 @@
 ///////////////////////////Softplus//////////////////////////////////
 void update_Actor_Networks(float (*arr)[num_input_RL])
 {
-    
+
 
     float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
     float G_ba1[num_hidden_unit1] = {0.0f};
@@ -803,9 +803,8 @@
 {
     float add = 0.0f;
     float result;
-    
-    for (int i=0; i<size; i++)
-    {
+
+    for (int i=0; i<size; i++) {
         add += x[i];
     }
     result = (float) add/size;
@@ -815,15 +814,14 @@
 {
     float sigma = 0.0f;
     float resultDeb = 0.0f;
-    
-    for (int k=0; k<size; k++)
-    {
+
+    for (int k=0; k<size; k++) {
         sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1);
         resultDeb += sqrt(sigma);
     }
     return resultDeb;
-}    
-     
+}
+
 
 void Overwirte_Critic_Networks()
 {
@@ -2493,11 +2491,12 @@
 
                 float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x,      unit : m^3
                 float Vb = (1256.6f + Amm  * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x),      unit : m^3
-                
+
                 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
-
-
-                float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s    //xdot=10mm/s일때 -137076
+                
+//                float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s    //xdot=10mm/s일때 -137076
+                a_hat = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt;             //-13707631
+                float f3 = a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; 
 
                 float g3_prime = 0.0f;
                 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
@@ -2551,18 +2550,35 @@
                 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
                 x_4_des_old = x_4_des;
                 float V_input = 0.0f;
-                V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
-//                //V_out LPF
-//                float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
-//                V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
-
-                float rho_gamma = 5000.0f;//5000 for change //50000 for not change
-                float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des));
-                gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
+                
+                V_input = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
                 
-                if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
-                else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
+                //V_out LPF
+                float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*5.0f)); // f_cutoff : 5Hz
+                V_output = V_output*(1.0f-alpha_V_out) + V_input*(alpha_V_out);
+                if (V_output >= VALVE_VOLTAGE_LIMIT*1000.0f) {
+                    V_output = VALVE_VOLTAGE_LIMIT*1000.0f;
+                } else if(V_output<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
+                    V_output = -VALVE_VOLTAGE_LIMIT*1000.0f;
+                }
+                V_out = V_output;
+
+//              // 1999 paper
+//                float rho_gamma = 5000.0f;//5000 for change //50000 for not change
+//                float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des));
+//                gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
+//
+//                if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
+//                else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
+        
+                // 2000 paper
+                float rho_a = 1.0f;
+                float a_hat_dot = -rho3/rho_a * vel.sen/(float)(ENC_PULSE_PER_POSITION) * 0.001f * (-torq.err);
+                //a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
                 
+                if(a_hat > -1000000.0f) a_hat = -1000000.0f;
+                else if(a_hat < -100000000.0f) a_hat = -100000000.0f;
+
                 break;
             }
 
@@ -2600,7 +2616,7 @@
                     virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f;
                     if (virt_pos > 70 ) {
                         virt_pos = 70.0f;
-                    }else if(virt_pos < -70) {
+                    } else if(virt_pos < -70) {
                         virt_pos = -70.0f;
                     }
 
@@ -2643,7 +2659,7 @@
                     virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f;
                     if (virt_pos > 70) {
                         virt_pos = 70.0f;
-                    }else if(virt_pos < -70) {
+                    } else if(virt_pos < -70) {
                         virt_pos = -70.0f;
                     }
 
@@ -2845,7 +2861,7 @@
             if (flag_data_request[4] == HIGH) {
                 //valve position
                 //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600
-                CAN_TX_VALVE_POSITION((int16_t) gamma_hat, (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
+                CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
             }
 
             // Others : Reference position, Reference FT, PWM, Current  (ID:1300)