Diff: main.cpp

Revision:

206:2e4d0c287578

Parent:

205:f3ffa0306a53

Child:

207:c70c5a9f17dd

--- a/main.cpp	Tue Dec 22 00:31:46 2020 +0000
+++ b/main.cpp	Tue Dec 22 00:44:04 2020 +0000
@@ -1,4 +1,4 @@
-//201221_5
+//201221_6
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -198,72 +198,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = {
-    {-1.0651262998580933f,1.079087257385254f,0.12903714179992676f,-0.8442964553833008f,-1.2632807493209839f,1.0890382528305054f,-0.2480141669511795f,1.101506233215332f,0.306148886680603f,-0.07488410174846649f,0.4801531434059143f,-1.2704215049743652f,-1.311547875404358f,-0.42825061082839966f,-0.2571594715118408f,0.9312854409217834f},
-{-0.7673605680465698f,0.7127318382263184f,-0.3927857577800751f,-0.7008839845657349f,-0.8622278571128845f,0.47420793771743774f,-0.47865915298461914f,0.5053043961524963f,0.1848064363002777f,0.1794361174106598f,0.12122385203838348f,-0.7305141687393188f,-0.26601728796958923f,-0.7547963261604309f,-0.20967772603034973f,0.757343590259552f},
-{-0.5796324610710144f,0.43604618310928345f,0.36391180753707886f,-0.7330704927444458f,-0.30090153217315674f,0.35448604822158813f,0.2139715999364853f,0.35131680965423584f,-0.021608401089906693f,0.1864640861749649f,-0.07418039441108704f,-0.4727575480937958f,-0.14900405704975128f,-0.21329398453235626f,0.05590221285820007f,0.14734014868736267f},
-{-0.22421015799045563f,-0.11777887493371964f,0.39742106199264526f,0.2895582914352417f,0.08770868927240372f,-0.32197412848472595f,-0.18909668922424316f,0.230462908744812f,0.13017557561397552f,0.3234238028526306f,0.2815452218055725f,0.2712361216545105f,0.015147432684898376f,-0.17652009427547455f,-0.2961459457874298f,0.04927379637956619f},
-{0.7330038547515869f,-0.4313277006149292f,-0.0051451027393341064f,0.76047682762146f,0.6377017498016357f,-0.5111381411552429f,0.05613463371992111f,-0.652809202671051f,-0.041234325617551804f,0.14118167757987976f,0.20089909434318542f,0.5183531045913696f,0.5684051513671875f,0.32223832607269287f,-0.3865056037902832f,-0.7170836925506592f},
-{1.6859405040740967f,-1.7480268478393555f,0.21773302555084229f,1.5168782472610474f,1.6488122940063477f,-1.5715287923812866f,0.0918196439743042f,-1.6206951141357422f,-0.5624873638153076f,0.1533781737089157f,-1.211430311203003f,1.4772427082061768f,1.0606153011322021f,1.1765979528427124f,-0.4132833778858185f,-1.1385502815246582f},
-{-0.3308287560939789f,-0.0035913896281272173f,-0.2501986622810364f,-0.06998295336961746f,-0.6095426082611084f,0.5972523093223572f,0.14186601340770721f,-1.0722416639328003f,1.3497728109359741f,0.02060558646917343f,1.9442201852798462f,0.3596242666244507f,0.8220042586326599f,-0.2554577887058258f,-0.15618428587913513f,-1.9365291595458984f},
-{-0.22557123005390167f,-0.04666884243488312f,-0.26619744300842285f,0.23508937656879425f,-0.44890496134757996f,-0.027784042060375214f,-0.10115062445402145f,-0.2181902378797531f,0.5977564454078674f,0.05360476300120354f,1.1160136461257935f,-0.16383998095989227f,0.7656612992286682f,0.45457202196121216f,0.04303058981895447f,-0.8773207068443298f},
-{0.39836385846138f,0.33532270789146423f,0.10248100757598877f,-0.4029936194419861f,0.029367495328187943f,-0.6144816875457764f,0.0038849744014441967f,0.18020746111869812f,-2.7003815174102783f,0.27096980810165405f,-0.7764512896537781f,0.2935250401496887f,0.5189394354820251f,0.5637304186820984f,-0.30555272102355957f,-0.0534282922744751f},
-{0.0479995533823967f,-0.2243943065404892f,0.18462657928466797f,-0.10711483657360077f,0.24811141192913055f,-0.11169877648353577f,-0.22099721431732178f,0.28472480177879333f,-0.9576982259750366f,-0.5504869222640991f,-0.06951017677783966f,-0.47201597690582275f,0.05168299376964569f,0.349193811416626f,0.3484981060028076f,0.006966171786189079f},
-{0.3669489622116089f,0.173136904835701f,0.37182438373565674f,0.1587599515914917f,-0.00808773748576641f,-0.014848489314317703f,-0.12356258928775787f,0.2685946822166443f,-0.48534467816352844f,-0.03728504106402397f,0.2071310579776764f,-0.3165475130081177f,-0.16358418762683868f,0.36243608593940735f,0.26688337326049805f,0.5367097854614258f},
-{-0.2987060546875f,-0.3011202812194824f,-0.40320003032684326f,-0.02080870047211647f,0.11218928545713425f,-0.18393079936504364f,0.23508036136627197f,0.06519722938537598f,0.2031620591878891f,0.15344390273094177f,-0.3336988389492035f,0.0971112847328186f,-0.006561402231454849f,0.2523828148841858f,0.10493969917297363f,-0.07013829797506332f},
-{-0.052888620644807816f,-0.09104171395301819f,0.19847965240478516f,0.048635102808475494f,0.24339929223060608f,0.13775108754634857f,-0.15815263986587524f,0.11539025604724884f,0.3810344934463501f,-0.2359289526939392f,-0.1037362590432167f,-0.2560672163963318f,0.03230508789420128f,0.19090615212917328f,-0.22268100082874298f,-0.09839482605457306f},
-{-0.06628920137882233f,-0.15171128511428833f,0.4127817749977112f,-0.05038939416408539f,-0.19926506280899048f,-0.2155904918909073f,-0.23787999153137207f,-0.2517743706703186f,0.47744491696357727f,-0.27294519543647766f,-0.2872203588485718f,-0.0011931773042306304f,-0.0901547446846962f,0.215664803981781f,0.0479682981967926f,0.4284473657608032f},
-{0.11220431327819824f,0.05531442537903786f,0.20282304286956787f,0.06162067502737045f,0.22600924968719482f,0.0961744636297226f,0.12273325026035309f,0.20982854068279266f,0.4038596451282501f,0.012635397724807262f,0.32540902495384216f,-0.4140889346599579f,0.05427118390798569f,0.08196975290775299f,0.0668090283870697f,-0.04194187372922897f},
-{0.016345413401722908f,-0.3046477735042572f,-0.40439701080322266f,-0.07365293800830841f,-0.14622722566127777f,0.10272365808486938f,-0.07605265825986862f,-0.13071581721305847f,0.14849649369716644f,-0.09238509833812714f,-0.21181374788284302f,-0.13632303476333618f,0.01261338870972395f,-0.0517803430557251f,-0.08245879411697388f,0.09694211930036545f},
-{-0.07181525975465775f,-0.034908633679151535f,0.16706281900405884f,-0.020723959431052208f,0.004262497648596764f,-0.06590507924556732f,0.0367065854370594f,-0.045576222240924835f,0.29224979877471924f,-0.019296137616038322f,-0.22143501043319702f,0.020158976316452026f,-0.07035636156797409f,0.34737369418144226f,0.29427415132522583f,0.03740450367331505f},
+    {-1.7807048559188843f,1.6689459085464478f,0.12903714179992676f,2.0055220127105713f,-1.8267242908477783f,1.2847471237182617f,1.0337109565734863f,1.8014789819717407f,-2.1881930828094482f,-1.2942607402801514f,-1.6340450048446655f,-1.9838756322860718f,-0.9214537143707275f,-1.5120413303375244f,-0.2571594715118408f,-1.0778447389602661f},
+{-1.1523692607879639f,0.9744340777397156f,-0.3927857577800751f,0.8196455240249634f,-1.1302025318145752f,0.7565463781356812f,-0.2672702372074127f,0.8042606711387634f,-1.0011622905731201f,-0.5117377042770386f,-1.6575663089752197f,-1.3885278701782227f,0.4483588635921478f,-1.218485713005066f,-0.20967772603034973f,-1.125075340270996f},
+{-1.2220433950424194f,1.048271894454956f,0.36391180753707886f,-0.29188844561576843f,-0.8578075766563416f,1.17359459400177f,0.293302059173584f,0.9377530217170715f,-0.8471015095710754f,-0.2110806405544281f,-0.7737365961074829f,-1.22345769405365f,0.8639165163040161f,-0.7474794387817383f,0.05590221285820007f,-1.6320104598999023f},
+{-0.7830098867416382f,0.557135283946991f,0.39742106199264526f,-0.5443631410598755f,-0.4207443594932556f,0.6247298121452332f,0.1912810355424881f,0.8550886511802673f,-0.15828193724155426f,0.2846245765686035f,1.2633171081542969f,0.030062289908528328f,0.5917699337005615f,-0.5886715054512024f,-0.2961459457874298f,-0.5372797250747681f},
+{1.034437656402588f,-0.5486003756523132f,-0.0051451027393341064f,-1.101850152015686f,0.9744883179664612f,-0.30943065881729126f,0.16204890608787537f,-0.8015485405921936f,1.0945266485214233f,0.7327287793159485f,2.313215732574463f,1.263038992881775f,0.03287762403488159f,0.7425644993782043f,-0.3865056037902832f,0.6784502863883972f},
+{3.701443910598755f,-3.7397303581237793f,0.21773302555084229f,-0.7896745204925537f,3.7201805114746094f,-3.1940155029296875f,-1.4316298961639404f,-3.5664565563201904f,3.2542521953582764f,1.7260537147521973f,0.4765399098396301f,3.269768238067627f,-1.1067615747451782f,3.3516292572021484f,-0.4132833778858185f,1.683417558670044f},
+{-0.06830067187547684f,0.04210755601525307f,-0.2501986622810364f,-4.3639726638793945f,-0.28858399391174316f,1.153104543685913f,0.006025615613907576f,-0.27903494238853455f,0.16336610913276672f,-0.17656497657299042f,6.054398536682129f,0.18550580739974976f,-0.05897205322980881f,0.5009920001029968f,-0.15618428587913513f,0.24028104543685913f},
+{-0.24243921041488647f,-0.3259289562702179f,-0.26619744300842285f,4.218647480010986f,-1.4108608961105347f,-1.9161746501922607f,3.456289291381836f,0.06387022137641907f,2.338621139526367f,0.11661907285451889f,2.5753769874572754f,2.91559100151062f,-0.08889052271842957f,0.9202753901481628f,0.04303058981895447f,-1.99177086353302f},
+{0.10272776335477829f,-0.0051670861430466175f,0.10248100757598877f,0.5276259183883667f,-0.09526387602090836f,-0.05263286828994751f,-9.120331764221191f,-0.9846327304840088f,-1.4346109628677368f,0.3423337936401367f,-1.4380583763122559f,-2.192056655883789f,5.739664554595947f,0.9945151805877686f,-0.30555272102355957f,-0.9550818800926208f},
+{-0.1298130452632904f,-0.844933032989502f,0.18462657928466797f,-2.0697882175445557f,0.3367975950241089f,-0.7679920792579651f,5.008863925933838f,0.6838765144348145f,0.9928942322731018f,-0.380719393491745f,-0.3328202962875366f,-1.3550094366073608f,0.7970038056373596f,0.38919582962989807f,0.3484981060028076f,0.40652960538864136f},
+{0.10495489835739136f,-0.15649040043354034f,0.37182438373565674f,-0.5165225863456726f,-0.030094584450125694f,0.27722814679145813f,0.7723641991615295f,0.1589910387992859f,0.10829687118530273f,0.01703939028084278f,-0.4294162094593048f,-0.8883196711540222f,-0.6225217580795288f,0.10884921252727509f,0.26688337326049805f,0.08329744637012482f},
+{-0.20337620377540588f,-0.09397348016500473f,-0.40320003032684326f,0.049671273678541183f,0.2552013695240021f,0.11166784167289734f,-0.18708603084087372f,-0.3583597242832184f,0.03445921465754509f,0.3062646687030792f,-0.052852533757686615f,-0.04729709401726723f,-0.7603814005851746f,0.011429191567003727f,0.10493969917297363f,-0.376788467168808f},
+{-0.02498585171997547f,0.028086746111512184f,0.19847965240478516f,0.2456793189048767f,0.05428092181682587f,0.2613365054130554f,-0.268947958946228f,-0.08100102096796036f,0.10430614650249481f,-0.1923302263021469f,-0.2395259290933609f,-0.04933980852365494f,-0.3201068937778473f,0.07187950611114502f,-0.22268100082874298f,-0.007916470989584923f},
+{-0.014006747864186764f,-0.08647304028272629f,0.4127817749977112f,0.05004005506634712f,-0.18516305088996887f,-0.08793098479509354f,0.14798147976398468f,-0.28873950242996216f,-0.25092774629592896f,-0.0990142896771431f,-0.10142865031957626f,0.012985054403543472f,-0.5933491587638855f,-0.08747518062591553f,0.0479682981967926f,-0.011664015240967274f},
+{-0.010867358185350895f,0.06461263447999954f,0.20282304286956787f,-0.10735680162906647f,0.10550501942634583f,-0.27693039178848267f,-0.2836221754550934f,0.0728113129734993f,-0.20681768655776978f,-0.03470535948872566f,-0.09182877838611603f,-0.08869069069623947f,-0.21124303340911865f,0.14233484864234924f,0.0668090283870697f,-0.4361487329006195f},
+{0.014389474876224995f,-0.04808990657329559f,-0.40439701080322266f,-0.05400414019823074f,-0.10591600090265274f,-0.501040518283844f,-0.07977351546287537f,-0.16353163123130798f,-0.2610345184803009f,-0.06855349242687225f,-0.12435207515954971f,0.10868765413761139f,-0.03643392398953438f,-0.19367268681526184f,-0.08245879411697388f,-0.14660458266735077f},
+{-0.01534365490078926f,-0.03290284425020218f,0.16706281900405884f,0.221749410033226f,-0.05399798974394798f,-1.1545442342758179f,0.09171648323535919f,-0.03219394013285637f,-0.860437273979187f,0.023272309452295303f,0.1099458560347557f,-0.08201001584529877f,-0.3159564137458801f,0.20682013034820557f,0.29427415132522583f,0.6272814273834229f},
 };
 
 const float h2[16][16] = {
-    {-0.28940293192863464f,0.14822211861610413f,-0.06966331601142883f,1.1824896335601807f,-0.21907491981983185f,1.6132508516311646f,0.09642468392848969f,0.058246299624443054f,-0.43008196353912354f,-0.1415480375289917f,0.9625473022460938f,-0.30644434690475464f,0.11631656438112259f,-1.3039828538894653f,-1.169154167175293f,0.1375267505645752f},
-{0.010509886778891087f,0.16037291288375854f,0.057057321071624756f,-0.8378437161445618f,-0.35503754019737244f,-0.8612306714057922f,-0.49156084656715393f,-0.3288796544075012f,-0.33757925033569336f,0.2895788848400116f,-0.32516688108444214f,-0.5729714632034302f,0.25248849391937256f,0.12396370619535446f,0.003185718785971403f,-0.6316449642181396f},
+    {0.7309545874595642f,2.151273012161255f,-0.06966331601142883f,3.99920654296875f,-0.21907491981983185f,0.9820910096168518f,-0.321774959564209f,-0.1541939675807953f,-0.6056634783744812f,-0.31396952271461487f,-5.851577281951904f,-0.4920310080051422f,0.07214775681495667f,-5.805349349975586f,-1.6171064376831055f,-9.397863388061523f},
+{2.0131070613861084f,-0.7731248736381531f,0.057057321071624756f,0.2953585386276245f,-0.35503754019737244f,-0.20023292303085327f,-0.8265648484230042f,-0.38386690616607666f,-0.5089491605758667f,0.24221304059028625f,-2.799264907836914f,-0.633624792098999f,0.24585041403770447f,3.1690449714660645f,0.28463271260261536f,2.2423183917999268f},
 {-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},
-{0.025028934702277184f,-0.2943528890609741f,-0.2894435524940491f,0.8652994632720947f,0.08946844935417175f,-0.1620083600282669f,-0.382304310798645f,0.37910565733909607f,0.26211628317832947f,0.2953031361103058f,-0.13686756789684296f,0.26439163088798523f,-0.48450762033462524f,-0.5091967582702637f,0.6592689156532288f,-0.9216057062149048f},
-{-0.31875112652778625f,0.7017490267753601f,-0.25313520431518555f,1.0372862815856934f,0.036378175020217896f,0.9305794835090637f,-0.23565807938575745f,-0.11849696934223175f,-0.024399548768997192f,-0.39465832710266113f,-0.582136332988739f,-0.5901880264282227f,0.1121581643819809f,-0.8765730261802673f,-0.6509860754013062f,0.37967100739479065f},
-{0.24799935519695282f,0.0062722195871174335f,-0.3519742488861084f,-0.09759663790464401f,-0.3015052080154419f,-0.8184338212013245f,-0.5792808532714844f,-0.05296515300869942f,-0.23047015070915222f,0.3579089343547821f,-0.7591480016708374f,-0.17699170112609863f,-0.2937648296356201f,1.0809556245803833f,1.0893036127090454f,-1.086893081665039f},
-{-0.24009481072425842f,0.036052312701940536f,-0.3260969817638397f,0.13043390214443207f,-0.38453540205955505f,-0.19277994334697723f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,0.02657732553780079f,-0.32796353101730347f,-0.21546880900859833f,-0.011102074757218361f,-0.27088475227355957f,-0.3525415360927582f},
-{0.0428214892745018f,1.2328463792800903f,0.33083590865135193f,-0.9973121881484985f,-0.14358049631118774f,-0.3555252254009247f,-0.09043094515800476f,-0.3280732035636902f,0.2600560486316681f,-0.37898191809654236f,-0.32210955023765564f,-0.33580145239830017f,-0.4031822681427002f,-0.28634169697761536f,0.18525435030460358f,1.1705628633499146f},
-{-0.39789247512817383f,0.5134366750717163f,-0.11379697918891907f,-0.014675650745630264f,0.041274964809417725f,0.015025894157588482f,-0.10284432768821716f,-0.030864616855978966f,0.06103590130805969f,-0.38046833872795105f,1.5145845413208008f,-0.5616563558578491f,-0.4275147020816803f,-0.14754129946231842f,0.2785690426826477f,-0.8093472719192505f},
-{-0.1906254142522812f,0.1342787891626358f,-0.13502129912376404f,-0.004634574055671692f,0.12987366318702698f,0.30197158455848694f,0.2711336314678192f,-0.38895177841186523f,-0.13619378209114075f,0.16938945651054382f,0.26708000898361206f,0.3731563091278076f,0.3811538517475128f,-0.15699248015880585f,-0.03277682512998581f,-0.2745218873023987f},
-{-0.6670151948928833f,-1.2651960849761963f,0.0457797646522522f,0.13420256972312927f,-0.03321319818496704f,-0.18468280136585236f,0.025661703199148178f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,0.5043959617614746f,0.22248806059360504f,-0.4343601167201996f,0.13030682504177094f,-0.09773676842451096f,-0.5949423313140869f},
-{0.21106837689876556f,0.09129185974597931f,0.3954955041408539f,0.6071242690086365f,0.0033026933670043945f,0.18723361194133759f,-0.18492193520069122f,-0.15131181478500366f,0.3487861454486847f,-0.32520344853401184f,0.3466304540634155f,-0.3619353771209717f,0.007233599666506052f,-0.6847418546676636f,0.32131829857826233f,-0.9721911549568176f},
-{-0.5981766581535339f,0.5146048069000244f,-0.15798500180244446f,-0.016648275777697563f,-0.37393757700920105f,0.4544288218021393f,-0.041796013712882996f,-0.32533594965934753f,-0.3764709532260895f,0.2424570620059967f,-0.8811066150665283f,-0.4602397680282593f,0.3558214604854584f,-0.2481599748134613f,-3.1422739028930664f,0.24758774042129517f},
-{-0.06835310906171799f,-0.4676307141780853f,-0.2018718123435974f,0.06425322592258453f,0.07545611262321472f,0.021368399262428284f,-0.26856672763824463f,-0.2510990500450134f,-0.24509364366531372f,0.19522181153297424f,-0.4063572585582733f,-0.5224275588989258f,-0.22812888026237488f,-0.05632568523287773f,-1.896801471710205f,-0.24523930251598358f},
+{-0.48315155506134033f,-0.4596182107925415f,-0.2894435524940491f,0.0005396368214860559f,0.08946844935417175f,0.8561189770698547f,-0.20108729600906372f,0.14678244292736053f,0.13011200726032257f,0.21811752021312714f,0.3669376075267792f,-0.05784331262111664f,-0.6287853717803955f,0.02621796727180481f,0.7304993271827698f,-0.23172836005687714f},
+{0.7272628545761108f,3.0807886123657227f,-0.25313520431518555f,2.347088098526001f,0.036378175020217896f,0.5192092657089233f,-0.7328973412513733f,-0.3538326025009155f,-0.1975555270910263f,-0.5459282398223877f,-2.4163146018981934f,-0.8545426726341248f,-0.11603832989931107f,-1.5216647386550903f,0.5095298886299133f,0.1498836874961853f},
+{-0.37124961614608765f,-0.014504355378448963f,-0.3519742488861084f,0.03143687918782234f,-0.3015052080154419f,0.36655113101005554f,-0.8719632625579834f,-0.051551785320043564f,-0.37846317887306213f,0.3579089343547821f,0.07659144699573517f,-0.2013002187013626f,-0.3928574025630951f,0.14929711818695068f,-0.10681967437267303f,-0.5804470777511597f},
+{-0.24781104922294617f,-2.008772373199463f,-0.3260969817638397f,0.9649527072906494f,-0.38453540205955505f,0.19253592193126678f,0.21375620365142822f,0.05278942734003067f,-0.27344658970832825f,-0.044374242424964905f,1.1179603338241577f,-0.5158692002296448f,-0.33838868141174316f,0.3787102997303009f,0.10057923197746277f,-4.920621871948242f},
+{1.331210970878601f,0.6711344718933105f,0.33083590865135193f,-2.427623987197876f,-0.14358049631118774f,0.3254135847091675f,-0.5694573521614075f,-0.5514112710952759f,0.08220036327838898f,-0.5410969853401184f,0.5523853898048401f,-0.6491090655326843f,-0.5427494645118713f,0.6210233569145203f,1.4435174465179443f,3.0532093048095703f},
+{0.6923806071281433f,0.14226312935352325f,-0.11379697918891907f,-0.213966503739357f,0.041274964809417725f,-0.26083076000213623f,-0.43745747208595276f,-0.03160077705979347f,-0.055766090750694275f,-0.5995153784751892f,0.6991217732429504f,-0.6461898684501648f,-0.5607666969299316f,-0.3602465093135834f,-0.4945257604122162f,-0.3155979812145233f},
+{-0.012218165211379528f,0.41092512011528015f,-0.13502129912376404f,0.19783270359039307f,0.12987366318702698f,0.5547798275947571f,0.04467938840389252f,-0.5653203725814819f,-0.13619378209114075f,0.16938945651054382f,1.05582594871521f,0.029812706634402275f,0.11738216876983643f,-0.5045449137687683f,0.07079683244228363f,-0.23086929321289062f},
+{-0.8900190591812134f,0.13081036508083344f,0.0457797646522522f,0.05137140303850174f,-0.03321319818496704f,-1.834595799446106f,-0.07800599187612534f,-0.20421427488327026f,-0.050184011459350586f,-0.02981780469417572f,-0.6498560905456543f,0.10084924101829529f,-0.6784595251083374f,-0.00616350956261158f,0.03268835321068764f,-2.2103617191314697f},
+{1.1047340631484985f,-0.4461626708507538f,0.3954955041408539f,-0.18519015610218048f,0.0033026933670043945f,-0.568597137928009f,-0.6717859506607056f,-0.37041208148002625f,0.17378418147563934f,-0.532118558883667f,1.9197595119476318f,-0.5332373976707458f,0.0061597698368132114f,-1.0825083255767822f,1.2936487197875977f,-1.5592758655548096f},
+{0.5075520277023315f,-1.9176207780838013f,-0.15798500180244446f,0.5718668699264526f,-0.37393757700920105f,0.04280955716967583f,-0.07716835290193558f,-0.38613834977149963f,-0.30612289905548096f,0.24769547581672668f,-0.07304560393095016f,-0.5915866494178772f,0.25011423230171204f,0.2782946825027466f,-0.4410281479358673f,-0.37290114164352417f},
+{-1.362764596939087f,-0.09321783483028412f,-0.2018718123435974f,0.05907825008034706f,0.07545611262321472f,-0.21409748494625092f,-0.5371257662773132f,-0.29936912655830383f,-0.2887822687625885f,0.143598735332489f,2.3939638137817383f,-0.6236295104026794f,-0.5248929262161255f,-1.1398392915725708f,-0.633877158164978f,-1.280221700668335f},
 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
-{-0.5047618746757507f,0.5904393792152405f,0.12081471085548401f,-0.13863922655582428f,0.29976895451545715f,-0.12990589439868927f,-0.112851083278656f,0.27743351459503174f,-0.3893685042858124f,-0.02222958207130432f,-1.310332179069519f,-0.15785454213619232f,-0.15566815435886383f,0.14788788557052612f,0.272746741771698f,0.4997565746307373f},
+{0.06504782289266586f,0.6117428541183472f,0.12081471085548401f,0.10449739545583725f,0.29976895451545715f,-0.11395322531461716f,-0.5163652896881104f,0.10284116864204407f,-0.4943521022796631f,-0.20044124126434326f,0.06053680181503296f,-0.23671367764472961f,-0.20789912343025208f,0.13695281744003296f,0.36073845624923706f,0.7399912476539612f},
 };
 
 const float h3[16][16] = {
-    {-0.36079341173171997f,-0.0541066974401474f,-0.11427942663431168f,-0.3776210844516754f,-0.21941784024238586f,0.07714090496301651f,0.3332441747188568f,0.3036012351512909f,-0.35430073738098145f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,-0.009721235372126102f,0.3459881842136383f,-0.2706393003463745f,0.0949227437376976f},
-{0.047732532024383545f,0.6749961376190186f,-0.7743512392044067f,-0.12169152498245239f,-0.015687361359596252f,-0.06515690684318542f,-0.3198729455471039f,0.010122273117303848f,0.06580231338739395f,-0.34999024868011475f,0.21212153136730194f,-0.43866920471191406f,0.3312906324863434f,0.15165342390537262f,-0.31814810633659363f,-1.6947815418243408f},
+    {-0.36079341173171997f,-1.5740747451782227f,-0.323828786611557f,-0.5008583664894104f,0.17446325719356537f,-0.09201639890670776f,0.1418231576681137f,0.2528802454471588f,-1.6159125566482544f,-0.26451337337493896f,-0.3563109040260315f,0.23585517704486847f,0.15575222671031952f,-0.19184747338294983f,-0.7520464658737183f,0.1434362381696701f},
+{0.047732532024383545f,-0.3546774983406067f,-1.0392972230911255f,-0.3922642469406128f,-0.21302993595600128f,0.7482725381851196f,-0.45127004384994507f,-0.04979252815246582f,1.8785374164581299f,-0.11562127619981766f,0.5300207138061523f,0.37874656915664673f,0.9194919466972351f,0.23528820276260376f,1.6635736227035522f,-0.017451908439397812f},
 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
-{-0.30922991037368774f,-0.2540297508239746f,1.8999176025390625f,-4.329303741455078f,-3.5019845962524414f,-0.04281803220510483f,0.20021501183509827f,0.06916993856430054f,-2.7268118858337402f,-0.41094160079956055f,-2.2472167015075684f,0.11580309271812439f,-2.946786403656006f,-0.4459586441516876f,1.355772614479065f,-0.2780115008354187f},
+{-0.30922991037368774f,0.5094926357269287f,0.8742960095405579f,-0.5943590998649597f,-1.4194984436035156f,0.38033169507980347f,0.04597592353820801f,-0.08955316245555878f,-0.7320433259010315f,-0.5997412204742432f,-1.8656071424484253f,1.0169402360916138f,1.6738009452819824f,1.0390515327453613f,-0.166262686252594f,0.3006783425807953f},
 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
-{-0.37449589371681213f,1.0932062864303589f,-0.6597809195518494f,-0.09980743378400803f,-0.14401298761367798f,0.22685740888118744f,-0.18732719123363495f,0.1965760588645935f,-1.2254714965820312f,-0.24726542830467224f,0.8606554865837097f,-0.12151762843132019f,0.15076467394828796f,0.6200868487358093f,2.168691873550415f,-0.07580545544624329f},
-{0.4110594093799591f,0.257549524307251f,-0.27791473269462585f,0.37246426939964294f,0.15373225510120392f,-0.10439058393239975f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.22399075329303741f,0.09009800851345062f,0.30046871304512024f,-0.3090245723724365f},
-{-0.40892091393470764f,0.07336683571338654f,-0.4162701666355133f,0.23003260791301727f,0.31295642256736755f,-0.021554099395871162f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.3037990629673004f,-0.3362136483192444f,0.10946480184793472f,-0.023275237530469894f},
-{0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
-{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
-{0.15459725260734558f,0.28785082697868347f,0.48973625898361206f,0.03658058121800423f,-0.3057056665420532f,-0.17894966900348663f,-0.08742031455039978f,0.05785742402076721f,1.091865062713623f,-0.3042280375957489f,1.1610838174819946f,-0.4605357050895691f,0.2770209312438965f,-0.5841274857521057f,-0.15762007236480713f,0.0751558467745781f},
-{-0.408692330121994f,-0.004005448427051306f,0.06676306575536728f,-0.1438588947057724f,-0.014833483844995499f,-0.19628094136714935f,0.03285527229309082f,0.38763079047203064f,-0.5251225829124451f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.5316307544708252f,-0.22785791754722595f,-0.17135114967823029f,0.13987067341804504f},
-{-0.2991822361946106f,0.20940250158309937f,0.09193290024995804f,-0.05932474136352539f,0.257845014333725f,0.07421738654375076f,-0.11253207921981812f,0.34576353430747986f,0.18672966957092285f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.18671339750289917f,-0.3066638708114624f,0.19077317416667938f,0.09332109987735748f},
-{-0.2675279378890991f,-0.31702008843421936f,0.2653336524963379f,-0.4158642590045929f,0.2880292236804962f,-0.2826632559299469f,-0.32875844836235046f,-0.31893211603164673f,-0.6278966665267944f,-0.6270437836647034f,-0.8624234199523926f,-0.5685778856277466f,0.5127128958702087f,-0.6235367655754089f,-0.8990296125411987f,0.6119592189788818f},
-{-0.015470266342163086f,-0.8055828809738159f,0.6796504259109497f,0.12235616147518158f,0.20345278084278107f,-0.547378420829773f,0.05196094512939453f,-0.024903543293476105f,0.26971861720085144f,-0.4892570674419403f,0.835141658782959f,-0.11511552333831787f,0.024629345163702965f,-2.059429407119751f,1.153829574584961f,-0.8503535389900208f},
-{0.1863725483417511f,-0.768993616104126f,-0.4004947245121002f,-0.8697360157966614f,-0.3458574712276459f,0.7495144009590149f,0.04860696196556091f,0.14396797120571136f,-0.26734429597854614f,0.08585577458143234f,-0.6514788866043091f,-0.11286284029483795f,0.7142773270606995f,-0.760141134262085f,-0.7148401737213135f,-0.013342279940843582f},
+{-0.37449589371681213f,-0.6622586846351624f,-1.0194721221923828f,-0.05452714487910271f,0.44912827014923096f,0.7577368021011353f,-0.23262421786785126f,-0.0025911128614097834f,0.3207937479019165f,-0.3428647220134735f,-0.08751271665096283f,-0.8736635446548462f,0.03225252777338028f,-0.28729477524757385f,-0.20754165947437286f,-1.7328381538391113f},
+{0.4110594093799591f,0.12106796354055405f,-0.13195820152759552f,0.37246426939964294f,0.10733360052108765f,-0.17651203274726868f,-0.08670487999916077f,-0.25336313247680664f,-0.5406959056854248f,-0.06259563565254211f,-0.1344406008720398f,0.16596482694149017f,0.33039313554763794f,-0.19485843181610107f,0.2149786353111267f,-0.36324015259742737f},
+{-0.40892091393470764f,0.07406841963529587f,-0.3659348487854004f,0.22920988500118256f,0.3122047781944275f,0.050250452011823654f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,0.08005775511264801f,-0.32234156131744385f,-0.26005738973617554f,0.17401346564292908f,-0.023042351007461548f},
+{0.10697010159492493f,-0.12228584289550781f,-0.5411396622657776f,0.21184906363487244f,-0.39521756768226624f,0.06677637994289398f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.17219778895378113f,-0.15024897456169128f,0.08757764101028442f,0.3412953019142151f,-0.06898030638694763f},
+{0.2847062647342682f,0.04198870062828064f,0.2324065864086151f,0.36562982201576233f,0.1762201339006424f,0.386137455701828f,0.2430230677127838f,0.2909286320209503f,-0.5064769387245178f,0.18043199181556702f,0.46689876914024353f,-0.37689411640167236f,0.08963057398796082f,-0.01978110894560814f,0.13965728878974915f,0.09183362871408463f},
+{0.15459725260734558f,0.32663199305534363f,-0.43264493346214294f,-0.25717872381210327f,-0.30865761637687683f,1.1349443197250366f,-0.09015364944934845f,-0.284537672996521f,1.3302375078201294f,-0.4318275451660156f,1.0774149894714355f,-0.8313512206077576f,-0.18751198053359985f,-0.5230942964553833f,1.275456428527832f,0.7793862819671631f},
+{-0.408692330121994f,0.2269023060798645f,0.09413175284862518f,0.0553261861205101f,0.0745026022195816f,-0.1746007651090622f,0.03285527229309082f,0.38763079047203064f,-0.3476070761680603f,-0.25883403420448303f,0.12809070944786072f,0.15931619703769684f,-0.5422877073287964f,-0.23907442390918732f,-0.2036581188440323f,0.08299102634191513f},
+{-0.2991822361946106f,0.31300684809684753f,-0.06969411671161652f,-0.05932474136352539f,0.1076110452413559f,0.1017603948712349f,-0.11253207921981812f,0.34576353430747986f,0.21113571524620056f,-0.35770976543426514f,-0.044228196144104004f,-0.2926151156425476f,0.14566898345947266f,-0.1921490579843521f,0.21915902197360992f,-0.0008085406152531505f},
+{-0.2675279378890991f,0.7427994012832642f,0.6347403526306152f,-0.1958807110786438f,1.2644003629684448f,0.8112095594406128f,-0.34373316168785095f,-0.6245776414871216f,0.7729313373565674f,-0.863515317440033f,-4.969630718231201f,-3.0855796337127686f,0.6991016268730164f,-2.170722007751465f,1.4726535081863403f,0.4425199329853058f},
+{-0.015470266342163086f,-0.6235769391059875f,1.1404080390930176f,-0.001713637262582779f,-0.5860978960990906f,-0.9973914623260498f,-0.134099543094635f,-0.16727054119110107f,-1.2199089527130127f,-0.5800305604934692f,0.6144692897796631f,0.8666657209396362f,-0.06915939599275589f,0.4561276137828827f,-0.6159982681274414f,-0.5167397856712341f},
+{0.1863725483417511f,0.8390569686889648f,0.3526930809020996f,-0.5944302678108215f,-0.08186009526252747f,1.2177678346633911f,0.04860696196556091f,0.18485434353351593f,1.054297924041748f,0.3378079831600189f,-1.4593759775161743f,1.966334581375122f,-0.048501357436180115f,0.6259897947311401f,-1.0965923070907593f,-0.9554581046104431f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.24067309498786926f,-0.19029031693935394f,-0.1684715449810028f,-0.3840329349040985f,0.325499951839447f,0.0030125975608825684f,0.14933602511882782f,-0.17778433859348297f,-0.17397688329219818f,0.18082411587238312f,-0.09067412465810776f,-0.20190583169460297f,0.19311721622943878f,-0.16077323257923126f,-0.2418316900730133f };
-
-const float b1[16] = { 0.4492400884628296f,0.7304707765579224f,-1.7145336866378784f,0.15708504617214203f,0.9469407200813293f,0.8307770490646362f,-0.13619700074195862f,0.9665170311927795f,0.032737694680690765f,-0.9773474335670471f,-0.5253515839576721f,1.3929836750030518f,-0.9818997383117676f,-1.1251341104507446f,-1.087764859199524f,1.1055108308792114f };
-
-const float b2[16] = { -0.22384877502918243f,-1.1095576286315918f,-1.4564176797866821f,-0.5761551856994629f,-0.6939148902893066f,0.105389304459095f,0.2970468997955322f,-0.3427216112613678f,-1.20063054561615f,-1.912178635597229f,0.7824582457542419f,0.48245614767074585f,-0.14711152017116547f,2.017953634262085f,0.11118471622467041f,0.75822913646698f };
-
-const float b3[16] = { -1.963319182395935f,0.04575809836387634f,-0.006216063629835844f,0.7003271579742432f,0.23033173382282257f,0.9353115558624268f,-0.45353031158447266f,-0.6813472509384155f,0.6649787425994873f,0.230538472533226f,-0.33871129155158997f,-0.2589915692806244f,-0.26017996668815613f,0.41799643635749817f,-0.8349097967147827f,0.1977328062057495f };
-
-const float bout[1] = { -0.03232046961784363f };
+const float hout[16] = { 0.45773375034332275f,0.15879979729652405f,-0.15007324516773224f,0.08761820942163467f,-0.1611965000629425f,0.16267047822475433f,-0.06551695615053177f,0.03275502473115921f,-0.15672892332077026f,-0.04369736090302467f,-0.10987479984760284f,-0.15064367651939392f,-0.1091320589184761f,0.20960037410259247f,0.15906164050102234f,-0.14601188898086548f };
+
+const float b1[16] = { 0.5291942954063416f,0.8617457151412964f,-1.7145336866378784f,0.9322654604911804f,0.8106487393379211f,0.682939887046814f,0.13172881305217743f,0.8984912633895874f,-0.38992229104042053f,-0.7498130798339844f,-2.8195302486419678f,1.0033252239227295f,-1.7225804328918457f,-1.1827361583709717f,-1.087764859199524f,2.699277400970459f };
+
+const float b2[16] = { -0.5746859908103943f,-0.9516815543174744f,-1.4564176797866821f,-0.4528921842575073f,-0.6939148902893066f,0.13526339828968048f,-0.04827849194407463f,-0.5930274128913879f,-1.3676362037658691f,-2.043384313583374f,0.7014528512954712f,0.2180779129266739f,-0.2795608341693878f,1.8895725011825562f,0.23002779483795166f,0.8182846903800964f };
+
+const float b3[16] = { -1.963319182395935f,0.9186627268791199f,-0.7716829776763916f,-0.32962435483932495f,0.8113220930099487f,0.06901621073484421f,-0.6259682178497314f,-0.8682839870452881f,-0.9259135127067566f,0.08148693293333054f,-0.23981264233589172f,-0.9112514853477478f,-1.277915596961975f,0.45877891778945923f,-1.3907086849212646f,0.797217607498169f };
+
+const float bout[1] = { -0.11752435564994812f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };
@@ -1037,8 +1037,8 @@
             input_NN[ind] = torq.sen / 10000.0f * 8.0f + 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 * 8.0f + 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] - torq.sen)/10000.0f * 8.0f + 0.5f;
+//                input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
                 ind = ind + 1;
             }