Diff: main.cpp

Revision:

87:471334725012

Parent:

86:b8ed7abddeb2

Child:

88:d6e591bece22

--- a/main.cpp	Mon Jul 13 00:43:25 2020 +0000
+++ b/main.cpp	Thu Jul 16 03:37:10 2020 +0000
@@ -1,4 +1,4 @@
-//200713-1
+//200716-1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -192,106 +192,77 @@
 
 float input_NN[num_input] = { 0.0f };
 
-const float h1[num_input][32] = { 
-   {-1.7173271179199219f,1.9272761344909668f,0.10589459538459778f,-1.9551751613616943f,-3.8357114791870117f,-0.29917842149734497f,-0.48302900791168213f,-0.6505731344223022f,0.29983001947402954f,0.15260091423988342f,-0.22155041992664337f,1.0087947845458984f,-0.19318288564682007f,0.2118169665336609f,-0.21103838086128235f,-0.09650886058807373f,0.3179604113101959f,0.24935457110404968f,1.4815877676010132f,1.0487595796585083f,-0.33476194739341736f,0.10696089267730713f,-0.3326931595802307f,-0.0792258083820343f,-0.7916494011878967f,0.18374285101890564f,-0.1767144799232483f,-0.4138437807559967f,-0.15036900341510773f,-0.18794111907482147f,-2.7250051498413086f,0.5172664523124695f},
-{-1.2524315118789673f,0.941848635673523f,0.29864487051963806f,-1.584148645401001f,-2.2177202701568604f,-0.17978821694850922f,-0.012527896091341972f,-0.144596666097641f,0.14071500301361084f,0.6399505138397217f,-0.31240519881248474f,0.5600001215934753f,0.021212786436080933f,0.13825878500938416f,0.045876264572143555f,-0.09028167277574539f,0.07870176434516907f,0.06295260787010193f,1.1944940090179443f,0.7594378590583801f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,-0.9661630988121033f,0.2936786115169525f,0.12686115503311157f,0.03534860163927078f,-0.3554855287075043f,0.09809011220932007f,-1.8105827569961548f,0.32793962955474854f},
-{-0.48733365535736084f,0.6765395998954773f,-0.0042223334312438965f,-1.1163684129714966f,-1.3729448318481445f,-0.19619950652122498f,-0.05927915871143341f,-0.2911379635334015f,0.16023236513137817f,0.408161997795105f,0.2585596740245819f,0.5770053267478943f,-0.03282937407493591f,0.1537180244922638f,-0.31718650460243225f,-0.10159887373447418f,0.5034856796264648f,-0.2658354640007019f,0.9114205837249756f,0.5554563403129578f,0.22159990668296814f,-0.15311938524246216f,0.13552400469779968f,-0.24659553170204163f,-0.7723011374473572f,0.14537742733955383f,-0.15514154732227325f,0.12487674504518509f,-0.3350704610347748f,0.302763432264328f,-1.7596312761306763f,-0.12863287329673767f},
-{-0.2709197998046875f,0.6088866591453552f,-0.20532599091529846f,-2.105774402618408f,-1.0578839778900146f,0.036226771771907806f,-0.03222697228193283f,-1.6291370391845703f,0.26261192560195923f,0.01654042862355709f,0.09624053537845612f,0.6282867789268494f,-0.11809042096138f,0.2912616729736328f,-0.12817290425300598f,0.07094799727201462f,0.020156018435955048f,-0.23756909370422363f,0.5113418102264404f,0.16509424149990082f,-0.24942269921302795f,-0.08793863654136658f,-0.14710915088653564f,-0.29148542881011963f,-0.4696958363056183f,0.14159366488456726f,0.13380053639411926f,0.02932538464665413f,0.295910120010376f,0.1323157548904419f,-1.4720128774642944f,0.07230854779481888f},
-{0.6661653518676758f,-0.07301590591669083f,0.08410122990608215f,-1.2277125120162964f,0.694151759147644f,0.09587140381336212f,-0.04204050451517105f,-2.474729299545288f,-0.6504687666893005f,0.6039865612983704f,-0.2716653645038605f,-0.35135138034820557f,0.211430162191391f,0.17204579710960388f,-0.25075238943099976f,0.28811436891555786f,-0.3890503942966461f,-0.18436601758003235f,-0.33490189909935f,-0.7503584623336792f,0.1375632882118225f,0.23587647080421448f,-0.24541926383972168f,-0.07457953691482544f,-0.8893887400627136f,-0.34256690740585327f,0.04057341814041138f,-0.09120805561542511f,0.44388294219970703f,-0.16320037841796875f,-0.14700335264205933f,-0.3236575722694397f},
-{2.7038960456848145f,-4.2455902099609375f,0.30513831973075867f,3.0863757133483887f,4.677725791931152f,0.2606070041656494f,-0.03161865100264549f,-0.08901429921388626f,-1.4746451377868652f,2.4349827766418457f,0.25819647312164307f,-3.1457977294921875f,-0.03144201636314392f,-0.005527359899133444f,0.21901831030845642f,-0.11974890530109406f,-1.0750433206558228f,-0.3195672333240509f,-4.672972202301025f,-2.3165717124938965f,0.13521116971969604f,-0.009676039218902588f,0.12587067484855652f,0.3309326469898224f,-2.980839729309082f,0.20814630389213562f,-0.2925715744495392f,0.6946446895599365f,0.4552701413631439f,-0.0013132691383361816f,3.4617044925689697f,-0.7443327307701111f},
-{0.053353261202573776f,-0.3158263862133026f,0.16288265585899353f,2.1040215492248535f,1.4133939743041992f,-0.0392598994076252f,-0.240433007478714f,-0.22583630681037903f,-0.2659626007080078f,-0.04336997866630554f,-0.11595829576253891f,-2.774592876434326f,0.098605215549469f,-0.08670175075531006f,-0.18274356424808502f,-0.46412888169288635f,-0.509023904800415f,-0.08166468143463135f,1.4031105041503906f,0.0587632991373539f,-0.16223669052124023f,-0.1771286129951477f,-0.2626192569732666f,-0.24521145224571228f,0.28011003136634827f,-0.15535086393356323f,-0.1126367449760437f,-0.2817431688308716f,-0.3592621684074402f,-0.03486502170562744f,1.4289454221725464f,-0.017852041870355606f},
-{0.6210769414901733f,-0.5490168929100037f,0.16644713282585144f,2.281311511993408f,1.210886836051941f,-0.20248198509216309f,0.03943008556962013f,-0.1206393837928772f,0.2586970925331116f,-0.4114479124546051f,-0.25573021173477173f,1.7027860879898071f,0.10806858539581299f,-0.12328503280878067f,0.054826945066452026f,0.09183579683303833f,0.05191424489021301f,-0.28619682788848877f,-0.21711719036102295f,0.02729770913720131f,-0.07430306077003479f,0.022674113512039185f,-0.12776102125644684f,-0.02844339609146118f,1.5868158340454102f,0.0177537202835083f,-0.341458797454834f,-0.21236279606819153f,-0.32845446467399597f,0.004316955804824829f,0.9823347926139832f,0.12272779643535614f},
-{0.271375834941864f,-1.2845408916473389f,0.13710039854049683f,2.082298517227173f,0.7812165021896362f,-0.2580096125602722f,-0.01317352894693613f,0.24639229476451874f,-0.05428266525268555f,0.04761303961277008f,-0.31649941205978394f,2.5336315631866455f,0.11499327421188354f,0.22336190938949585f,0.24149659276008606f,0.07626258581876755f,0.07528708130121231f,0.06021764874458313f,-0.29721686244010925f,-0.2243511974811554f,-0.30298954248428345f,-0.022329479455947876f,-0.2963099479675293f,0.08446213603019714f,0.6825646162033081f,-0.08218517899513245f,-0.08906334638595581f,0.1621612310409546f,0.15761741995811462f,-0.11924156546592712f,0.8460053205490112f,-0.025991566479206085f},
-{-0.5082711577415466f,-0.48148369789123535f,-0.24446426331996918f,1.0570698976516724f,0.35220712423324585f,-0.16325943171977997f,0.24722981452941895f,-0.2084919512271881f,-0.3960915207862854f,-0.18749573826789856f,-0.3748314678668976f,1.119239330291748f,0.08400186896324158f,0.10187669843435287f,-0.26784712076187134f,-0.5449401140213013f,0.1510961800813675f,0.3319900929927826f,-0.4567531943321228f,-0.5519561767578125f,-0.20100386440753937f,0.1638341248035431f,-0.11680193245410919f,-0.321638286113739f,0.8482062220573425f,0.05633258819580078f,0.13587942719459534f,0.18818747997283936f,0.07008782774209976f,0.30370619893074036f,0.7220067977905273f,0.13419514894485474f},
-{-0.6506638526916504f,-0.27080345153808594f,-0.06658771634101868f,0.8409618735313416f,-0.534980833530426f,-0.25742053985595703f,0.1363644152879715f,-0.4305042624473572f,-0.4650959372520447f,-0.32956910133361816f,-0.3635176718235016f,-0.8108978867530823f,-0.1789563000202179f,0.2531742751598358f,0.017138004302978516f,-0.0690113976597786f,-0.5680991411209106f,-0.24391496181488037f,-0.3262009024620056f,-0.7468659281730652f,0.16973629593849182f,-0.25340327620506287f,0.23975160717964172f,0.011333763599395752f,0.6142261624336243f,0.10268864035606384f,0.08055207133293152f,-0.4691053628921509f,-0.006952068768441677f,0.029612571001052856f,0.6139494180679321f,0.1642189621925354f},
-{-0.487315833568573f,0.4495343863964081f,-0.3080642819404602f,0.7150331139564514f,-0.7881894707679749f,-0.5316581130027771f,-0.14371272921562195f,-0.05865927040576935f,-0.2284361869096756f,0.547099769115448f,0.2747454345226288f,-0.9189876317977905f,-0.03757423162460327f,-0.18512161076068878f,-0.2992876172065735f,-0.02525782398879528f,-0.05888053774833679f,-0.1821068376302719f,-0.4728287160396576f,-0.38356640934944153f,0.29002442955970764f,0.2275833785533905f,-0.23374228179454803f,0.3280802071094513f,-0.01549439039081335f,0.2108195722103119f,0.33828380703926086f,-0.26290827989578247f,-0.025420013815164566f,0.1480078399181366f,0.8252019882202148f,0.022061198949813843f},
-{-0.42145416140556335f,-0.32817694544792175f,0.19288143515586853f,0.6556568145751953f,-0.49610650539398193f,-0.2140781581401825f,-0.2724672555923462f,1.5364238023757935f,0.012314929626882076f,1.0431996583938599f,-0.16546383500099182f,-0.29907405376434326f,-0.2720222473144531f,-0.37664857506752014f,0.06489166617393494f,-0.31254562735557556f,-0.0591534785926342f,0.21822473406791687f,0.04160457104444504f,-0.26140296459198f,-0.25171342492103577f,0.027203470468521118f,0.012447118759155273f,-0.0029686689376831055f,0.1829933077096939f,0.03022313117980957f,0.3424017131328583f,-0.460762619972229f,-0.2912348806858063f,-0.34525999426841736f,0.36401689052581787f,0.18966224789619446f},
-{-0.497624933719635f,-0.03684612363576889f,0.06283923983573914f,-0.1809375137090683f,-0.4831215441226959f,-0.08588290214538574f,0.263502299785614f,2.1750051975250244f,0.005951971281319857f,1.061228632926941f,0.27552711963653564f,-0.7091516256332397f,0.03354460000991821f,0.0158181544393301f,0.1072375476360321f,-0.34214287996292114f,-0.00028450076933950186f,0.08871319890022278f,-0.050333134829998016f,0.0513203926384449f,-0.2227887064218521f,-0.01532900333404541f,0.11891454458236694f,-0.33143535256385803f,0.023696811869740486f,-0.1485452950000763f,0.25882163643836975f,-0.5795165300369263f,-0.07981174439191818f,0.24182012677192688f,-0.08814141899347305f,0.2655392289161682f},
-{0.002737239934504032f,0.02176501415669918f,0.25620588660240173f,-0.5514960289001465f,-0.24924862384796143f,0.06575264781713486f,0.18139351904392242f,2.0172770023345947f,-0.032992683351039886f,0.7385754585266113f,-0.062326326966285706f,-0.9854000806808472f,0.18931713700294495f,-0.34806856513023376f,0.03958520293235779f,-0.05553334206342697f,-0.11130614578723907f,-0.07219305634498596f,0.08754456788301468f,0.07523036003112793f,0.31619134545326233f,0.26330670714378357f,0.026431173086166382f,0.237522691488266f,-0.21262700855731964f,0.19442179799079895f,0.1992029845714569f,-0.7913076281547546f,-0.40429288148880005f,-0.10433453321456909f,-0.4499031603336334f,-0.2245202511548996f},
-{-0.36545130610466003f,0.3189356327056885f,-0.13789941370487213f,-0.6045191287994385f,0.0023672033566981554f,0.10799064487218857f,-0.24793781340122223f,2.19549822807312f,-0.28907057642936707f,0.9180721044540405f,-0.3394242823123932f,-0.7255010008811951f,0.06288954615592957f,-0.24862933158874512f,0.28114965558052063f,-0.6722562909126282f,-0.05489439517259598f,-0.14027439057826996f,-0.43696144223213196f,-0.25249654054641724f,0.18525317311286926f,0.07025247812271118f,-0.12988737225532532f,0.04382038116455078f,0.07713350653648376f,-0.12333536148071289f,-0.12442702054977417f,-0.46850964426994324f,-0.3310098946094513f,0.27953919768333435f,-0.22783531248569489f,0.21733491122722626f},
-{-0.1677897423505783f,-0.2695007920265198f,0.23826703429222107f,-1.8076503276824951f,0.22223037481307983f,-0.20322440564632416f,0.29371458292007446f,2.6853017807006836f,0.3178054988384247f,1.1515147686004639f,-0.3639605641365051f,-0.8484248518943787f,0.012096136808395386f,-0.09091068059206009f,-0.03951779007911682f,-0.31418755650520325f,0.0484282560646534f,0.2508954107761383f,0.008388232439756393f,-0.010029105469584465f,0.22447606921195984f,0.30379387736320496f,-0.006355375051498413f,-0.11041811108589172f,-0.3858407139778137f,-0.28886765241622925f,-0.05783697962760925f,-0.3707982003688812f,-0.11206886917352676f,-0.1556464582681656f,-0.7998605370521545f,-0.08164318650960922f},
+const float h1[num_input][16] = { 
+   {-2.8398470878601074f,0.6193283796310425f,0.12903714179992676f,0.5167921781539917f,-2.9680557250976562f,1.2951633930206299f,-0.17472904920578003f,0.4641677439212799f,-2.412757396697998f,-0.3652467429637909f,-0.2333867847919464f,-2.022353172302246f,-0.26348453760147095f,-0.7644635438919067f,-0.2571594715118408f,-2.0745327472686768f},
+{-2.067868232727051f,0.1564812958240509f,-0.3927857577800751f,0.1317148059606552f,-2.017406702041626f,0.4895585775375366f,-0.4054011106491089f,-0.1517474502325058f,-1.380297064781189f,0.21619710326194763f,-0.2699335813522339f,-0.9855594038963318f,0.23649367690086365f,-0.7913738489151001f,-0.20967772603034973f,-1.2367783784866333f},
+{-1.810051679611206f,0.23925012350082397f,0.36391180753707886f,-0.28798815608024597f,-1.3201149702072144f,0.6065874099731445f,0.2872133255004883f,0.10069674253463745f,-1.121034860610962f,0.03665628656744957f,-0.34347283840179443f,-0.9276648759841919f,-0.0013653822243213654f,-0.3784019947052002f,0.05590221285820007f,-1.5249348878860474f},
+{-1.4985265731811523f,0.3095228374004364f,0.39742106199264526f,0.30592191219329834f,-0.9633183479309082f,0.3891645073890686f,-0.11584559082984924f,0.5953580737113953f,-0.43430089950561523f,-0.2335168570280075f,0.10071082413196564f,-1.4091436862945557f,-0.16311706602573395f,-0.7475653290748596f,-0.2961459457874298f,-1.5017070770263672f},
+{0.1639259159564972f,-0.19264478981494904f,-0.0051451027393341064f,0.18278539180755615f,0.29258835315704346f,-0.16537047922611237f,0.1294034719467163f,-0.48302626609802246f,1.0344970226287842f,0.003881702898070216f,0.35295185446739197f,-1.817507028579712f,-0.06637570261955261f,0.00020343283540569246f,-0.3865056037902832f,-1.2658499479293823f},
+{3.5226595401763916f,-3.8910415172576904f,0.21773302555084229f,0.12742145359516144f,3.8099546432495117f,-3.773838996887207f,0.16514194011688232f,-3.712245464324951f,4.016517639160156f,2.522937774658203f,-0.2422771006822586f,1.597900629043579f,-0.262627512216568f,2.9437081813812256f,-0.4132833778858185f,1.6044585704803467f},
+{0.5298309326171875f,0.645086944103241f,-0.2501986622810364f,-0.6320685744285583f,-0.21611358225345612f,0.5605753064155579f,0.06014183163642883f,0.15844355523586273f,1.091471552848816f,0.3617567718029022f,0.1512620896100998f,0.027080470696091652f,-0.16920821368694305f,0.38405799865722656f,-0.15618428587913513f,1.549833059310913f},
+{1.752773642539978f,0.24747805297374725f,-0.26619744300842285f,-0.22543148696422577f,0.8222247362136841f,-0.032656822353601456f,-0.17925891280174255f,0.3822891414165497f,0.9663873314857483f,-0.29047030210494995f,0.10626212507486343f,0.480464905500412f,0.37580054998397827f,-0.3655668795108795f,0.04303058981895447f,2.2091176509857178f},
+{1.5919779539108276f,0.23339682817459106f,0.10248100757598877f,-0.6890998482704163f,0.7124201059341431f,-0.1378057301044464f,-0.07246989011764526f,-0.1262863576412201f,0.12226836383342743f,0.7040022015571594f,-0.2960217297077179f,1.793251633644104f,0.2337968796491623f,0.3650861084461212f,-0.30555272102355957f,1.9488884210586548f},
+{0.7929409146308899f,-0.19633033871650696f,0.18462657928466797f,-0.41113781929016113f,0.49624335765838623f,0.27704986929893494f,-0.2990540862083435f,0.20519299805164337f,0.26225489377975464f,-0.0009923784527927637f,-0.006844776216894388f,-0.026139043271541595f,0.3769318759441376f,0.23515281081199646f,0.3484981060028076f,1.2790707349777222f},
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 };
 
-const float h2[32][32] = { 
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-{0.2703488767147064f,-0.16041381657123566f,0.12738299369812012f,-0.03611093759536743f,0.1169431209564209f,0.1861400008201599f,-0.1765512377023697f,0.28177282214164734f,0.1474648416042328f,-0.23766008019447327f,-0.005803406238555908f,0.08728843927383423f,0.09594401717185974f,-0.17028304934501648f,-0.16805587708950043f,-0.058941617608070374f,-0.22846683859825134f,0.08700510859489441f,-0.2656046748161316f,0.07154610753059387f,-0.1559111475944519f,0.22832396626472473f,-0.18301571905612946f,-0.17816279828548431f,-0.04200500249862671f,0.2835671007633209f,0.1830621361732483f,-0.26011598110198975f,0.08541131019592285f,0.08213254809379578f,-0.29332536458969116f,0.08477649092674255f},
-{-0.06283275783061981f,-0.26753589510917664f,-0.10381917655467987f,-0.13344663381576538f,0.2644997537136078f,0.2204643189907074f,0.2924788296222687f,-0.17931663990020752f,-0.09078609943389893f,-0.17306232452392578f,0.02247890830039978f,-0.26996222138404846f,0.22075030207633972f,-0.3029964864253998f,0.21873190999031067f,-0.0030784308910369873f,0.18228653073310852f,0.09971508383750916f,-0.242676243185997f,-0.1424383968114853f,0.19031599164009094f,0.3004438579082489f,-0.23650792241096497f,-0.2683113217353821f,0.29957786202430725f,0.08561205863952637f,-0.1366746425628662f,-0.15950153768062592f,-0.07675467431545258f,-0.2218506634235382f,-0.2795913517475128f,0.1869203746318817f},
-{0.2003176510334015f,-0.27792131900787354f,0.055196613073349f,-0.27959588170051575f,0.18430876731872559f,-0.05316638946533203f,0.16156336665153503f,-0.18850930035114288f,0.09482413530349731f,0.021483391523361206f,0.009039878845214844f,0.1586727499961853f,0.11457142233848572f,0.2876913249492645f,-0.24802550673484802f,0.14089101552963257f,-0.06842575967311859f,-0.10107968747615814f,0.06239110231399536f,-0.2528536915779114f,-0.27538973093032837f,0.15457189083099365f,-0.15549622476100922f,0.20245882868766785f,0.08544808626174927f,0.22650876641273499f,-0.05268847942352295f,0.20387354493141174f,0.24724552035331726f,0.21444126963615417f,0.05186706781387329f,-0.11084021627902985f},
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-{-0.10580866038799286f,-0.17215237021446228f,-0.01352420449256897f,-0.13443149626255035f,-0.10265451669692993f,-0.2169143706560135f,0.30098411440849304f,-0.2986297905445099f,0.07908004522323608f,-0.30061498284339905f,0.10424068570137024f,-0.018799901008605957f,-0.18665757775306702f,0.005998075008392334f,-0.2969498336315155f,0.18525955080986023f,0.2379322350025177f,0.15184926986694336f,0.215760737657547f,-0.19088758528232574f,0.08620095252990723f,0.019999295473098755f,-0.0752219706773758f,0.11181813478469849f,0.1881926953792572f,0.2210972011089325f,0.13236162066459656f,-0.06690356135368347f,-0.18345263600349426f,-0.14861416816711426f,0.08577704429626465f,-0.09683996438980103f},
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-{0.20124590396881104f,-0.11652402579784393f,0.24921879172325134f,0.1895708590745926f,-0.2817712128162384f,-0.2917989492416382f,-0.14177459478378296f,-0.11968852579593658f,0.23963233828544617f,0.21321198344230652f,-0.1365956962108612f,-0.07098843902349472f,-0.16443446278572083f,-0.10797544568777084f,-0.1404687613248825f,-0.23719100654125214f,-0.19791248440742493f,0.2487291395664215f,-0.054470546543598175f,-0.30096960067749023f,-0.2520124912261963f,-0.0033437502570450306f,-0.09928475320339203f,-0.23108112812042236f,-0.3733688294887543f,0.20262952148914337f,-0.0021994111593812704f,-0.15036596357822418f,-0.03476092219352722f,0.18156595528125763f,0.004408210515975952f,-0.04168035835027695f},
-{-0.19114845991134644f,0.009595632553100586f,0.2466227114200592f,0.055947232991456985f,-0.29828932881355286f,-0.2819134294986725f,-0.06226036697626114f,-0.15331926941871643f,-0.2516406178474426f,0.012286126613616943f,0.19681154191493988f,-0.21513022482395172f,-0.09437626600265503f,-0.01502271182835102f,-0.023038199171423912f,-0.060623422265052795f,-0.24087269604206085f,-0.048499464988708496f,-0.3189714252948761f,0.00832032784819603f,-0.3219168186187744f,-0.25389641523361206f,-0.031352698802948f,0.2829354703426361f,-0.24429625272750854f,-0.26506564021110535f,-0.23125341534614563f,0.2653900682926178f,-0.07090267539024353f,-0.3292027413845062f,-0.2543276250362396f,0.01698158122599125f},
-{-0.01348048448562622f,0.08233943581581116f,0.18838337063789368f,0.21852442622184753f,-0.04740855097770691f,0.19177213311195374f,-0.0060100555419921875f,0.20933791995048523f,0.06356173753738403f,0.063028484582901f,0.09440034627914429f,0.29559019207954407f,-0.2545689642429352f,-0.09652335941791534f,-0.2841038703918457f,-0.03553757071495056f,0.02329021692276001f,-0.08720272779464722f,-0.0750999003648758f,-0.10468094050884247f,-0.03761094808578491f,-0.030853450298309326f,0.2112145721912384f,0.2599640190601349f,-0.2969062626361847f,-0.13667742908000946f,0.24173608422279358f,0.09566575288772583f,0.021116197109222412f,-0.005982398986816406f,-0.26417285203933716f,0.1879688799381256f},
-{-2.6174967288970947f,-0.17203155159950256f,0.0620841383934021f,-0.023400938138365746f,-0.22964656352996826f,-0.3363294005393982f,-1.0403361320495605f,0.17422041296958923f,-2.0363495349884033f,0.2210421860218048f,-0.2922200858592987f,-0.9033129215240479f,-0.2320997267961502f,0.8316505551338196f,0.05220022425055504f,-0.22139473259449005f,0.10771593451499939f,-0.4340587258338928f,0.24175135791301727f,-0.18875643610954285f,-0.14234186708927155f,-0.3408077657222748f,-0.22302524745464325f,0.025637473911046982f,-0.30855870246887207f,0.4760025143623352f,-0.7012357115745544f,-0.09129323810338974f,-1.1739534139633179f,-0.22928372025489807f,0.15235042572021484f,-0.04002072289586067f},
-{-0.027682196348905563f,-0.22750279307365417f,-0.22503364086151123f,-0.024396603927016258f,-0.012498408555984497f,-0.2887764871120453f,0.14812691509723663f,0.08175003528594971f,-0.016126900911331177f,0.06972584128379822f,-0.03908216580748558f,0.19079743325710297f,-0.031845152378082275f,-0.4225393533706665f,0.6486763954162598f,0.0036958197597414255f,-0.09216172993183136f,0.04617339372634888f,-0.056485723704099655f,-0.13333511352539062f,-0.1711816042661667f,-0.4495088756084442f,-0.06047184765338898f,-0.3041808307170868f,-0.13072262704372406f,-0.744982123374939f,-0.20787908136844635f,-0.3318275511264801f,-0.16326025128364563f,0.050311826169490814f,-0.02675291895866394f,0.17512398958206177f},
+const float h2[16][16] = { 
+    {-2.6471354961395264f,-2.679286479949951f,-0.21649284660816193f,-1.7232879400253296f,-0.21907491981983185f,-2.729369640350342f,-0.284547358751297f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-4.236062049865723f,-4.173418998718262f,-0.23334987461566925f,-0.9168315529823303f,3.094501256942749f,0.9049396514892578f},
+{3.518364667892456f,-4.636336803436279f,-0.0792427808046341f,-2.1648776531219482f,-0.35503754019737244f,-1.789704442024231f,-0.6473678350448608f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-3.1890182495117188f,-1.316067099571228f,0.05698845908045769f,2.936434745788574f,1.0156790018081665f,-2.7771856784820557f},
+{-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},
+{0.035982225090265274f,-0.3313581943511963f,-0.2894435524940491f,0.3545926511287689f,0.08946844935417175f,0.2831231355667114f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.2838204801082611f,0.28033801913261414f,-0.4285939037799835f,-0.15804921090602875f,0.24909892678260803f,-0.06571611762046814f},
+{-1.3361948728561401f,-0.9798497557640076f,-0.39768946170806885f,-0.4999014437198639f,0.036378175020217896f,-1.0754427909851074f,-0.44910115003585815f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-1.3597677946090698f,-0.884815514087677f,-0.15269401669502258f,-0.39067545533180237f,1.1105893850326538f,0.2311859279870987f},
+{1.95911705493927f,-0.6747143864631653f,-0.49011531472206116f,-2.0458433628082275f,-0.3015052080154419f,-1.1922862529754639f,-0.7310768365859985f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-2.5488033294677734f,1.7947808504104614f,-0.5091095566749573f,1.4733959436416626f,0.379915714263916f,-2.2026352882385254f},
+{-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
+{2.4917449951171875f,-2.8453586101531982f,0.18713310360908508f,-1.6128438711166382f,-0.14358049631118774f,-1.4727948904037476f,-0.24004870653152466f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,-2.8529953956604004f,-3.938023567199707f,-0.6344656348228455f,1.6513631343841553f,0.7034623622894287f,-1.5733808279037476f},
+{-0.6641551852226257f,-0.12082239240407944f,-0.2573299705982208f,-0.7453504204750061f,0.041274964809417725f,-1.1943076848983765f,-0.591788113117218f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-3.445509433746338f,0.5281965732574463f,-0.5933701395988464f,0.0359068363904953f,0.5833016633987427f,-0.2251288890838623f},
+{-0.5226826071739197f,1.5946403741836548f,-0.21562400460243225f,0.5621151328086853f,0.12987366318702698f,0.19068573415279388f,-0.045690249651670456f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.4805721342563629f,-0.1503297984600067f,0.16193372011184692f,-0.9004831910133362f,-0.9160167574882507f,-0.7731848359107971f},
+{-0.2912669777870178f,0.015835795551538467f,0.0457797646522522f,-0.3523545265197754f,-0.03321319818496704f,-0.4002332091331482f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.19006967544555664f,0.3545852601528168f,-0.3647043704986572f,0.3974943459033966f,-0.41870367527008057f,-0.26338401436805725f},
+{0.3733121156692505f,-1.5026254653930664f,0.24167154729366302f,-5.510858535766602f,0.0033026933670043945f,-1.5894434452056885f,-0.14932051301002502f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-5.323966979980469f,-3.9015135765075684f,-0.4391670525074005f,-0.6654871106147766f,-0.565035343170166f,0.0247567817568779f},
+{-0.26980137825012207f,-0.20259903371334076f,-0.15798500180244446f,0.39488306641578674f,-0.37393757700920105f,0.3695334494113922f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.1016426756978035f,-0.2837170362472534f,0.41839322447776794f,-0.02783525362610817f,-0.13728779554367065f,0.11949998885393143f},
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+{-1.076820969581604f,4.704056262969971f,-0.023804863914847374f,-3.6752617359161377f,0.29976895451545715f,-1.2358992099761963f,-0.7081507444381714f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-3.34683895111084f,-7.507437229156494f,-0.5566414594650269f,-1.4245333671569824f,-3.6681931018829346f,-0.4027198255062103f},
 };
 
-const float h3[32][32] = { 
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-{0.14277681708335876f,-0.21736162900924683f,0.14885470271110535f,-0.15626248717308044f,-0.027196528390049934f,-0.13987448811531067f,0.1624150574207306f,-0.27022814750671387f,0.020349089056253433f,-0.32561764121055603f,0.3906245827674866f,0.18551066517829895f,0.3153047561645508f,-0.03805544599890709f,-0.03100520372390747f,-0.2484396994113922f,0.06366744637489319f,-0.2764144539833069f,0.312002569437027f,0.19810143113136292f,-0.1693296581506729f,0.118461973965168f,0.2205439656972885f,-0.0716068297624588f,-0.2723652422428131f,-0.19159743189811707f,0.17270348966121674f,-0.15148542821407318f,-0.40611082315444946f,-0.10488687455654144f,-0.21563708782196045f,0.12977148592472076f},
-{0.29069945216178894f,-0.23835359513759613f,0.019009560346603394f,-0.3508252501487732f,0.2295755296945572f,-0.15265671908855438f,0.045349299907684326f,-0.17138783633708954f,-0.21239377558231354f,0.028545528650283813f,-0.17950725555419922f,-0.15074089169502258f,-0.012408856302499771f,-0.21152688562870026f,0.09875330328941345f,0.08164769411087036f,0.2294725477695465f,0.10683679580688477f,-0.2652530074119568f,-0.11483882367610931f,0.16828653216362f,0.3031145930290222f,0.16651621460914612f,-0.15362010896205902f,0.21359355747699738f,0.023651927709579468f,-0.1729920208454132f,0.2764638662338257f,0.12841083109378815f,0.19045329093933105f,0.02994692325592041f,-0.18855193257331848f},
-{0.1991647183895111f,0.12534403800964355f,-0.04112154245376587f,0.23123982548713684f,-0.17588619887828827f,-0.302817702293396f,-0.1610087752342224f,-0.031804412603378296f,0.10274738073348999f,-0.25018924474716187f,0.15975651144981384f,-0.057292819023132324f,0.1464652419090271f,0.08016204833984375f,0.2151305377483368f,0.2952744662761688f,-0.21319252252578735f,0.04970458149909973f,0.10210192203521729f,0.3050673305988312f,0.21167120337486267f,-0.15151944756507874f,0.13887640833854675f,0.25299301743507385f,-0.11117732524871826f,-0.07015113532543182f,-0.287551611661911f,-0.025779157876968384f,-0.07337476313114166f,-0.24420931935310364f,0.015819430351257324f,-0.10595546662807465f},
-{0.12202468514442444f,0.15162138640880585f,-0.10034829378128052f,-0.32564082741737366f,0.19687119126319885f,0.05181124433875084f,-0.06113804876804352f,-0.11568751931190491f,0.32053595781326294f,-0.3154204487800598f,0.06257013976573944f,-0.11160935461521149f,-0.1251833736896515f,-0.21361380815505981f,-0.06735922396183014f,0.05864924192428589f,-0.25733181834220886f,-0.17565661668777466f,0.08770500123500824f,-0.11798032373189926f,-0.22401615977287292f,0.1542765498161316f,0.1449800729751587f,-0.05681343376636505f,0.2106601595878601f,0.1795230209827423f,0.19069638848304749f,0.0439084954559803f,-0.2000730186700821f,0.2425754964351654f,-0.22172409296035767f,-0.009572982788085938f},
-{-0.3055141270160675f,-0.25100094079971313f,-0.042494036257267f,-0.09800136089324951f,-0.23906663060188293f,-0.2459760159254074f,-0.14330914616584778f,0.21086838841438293f,0.111941859126091f,-0.08717077225446701f,-0.3571506142616272f,-0.14543557167053223f,0.14192532002925873f,-0.014786701649427414f,-0.023131370544433594f,0.036719828844070435f,0.16260939836502075f,0.05286213755607605f,-0.17732658982276917f,-0.1845850944519043f,0.012657895684242249f,-0.25612255930900574f,0.1040070429444313f,0.19191309809684753f,-0.06192035228013992f,-0.02825927734375f,-0.20535966753959656f,-0.04384424537420273f,-0.46086585521698f,0.1865309774875641f,0.13453395664691925f,-0.43843552470207214f},
-{0.026374761015176773f,-0.17528532445430756f,-0.5579909086227417f,-1.2730792760849f,-0.3358721435070038f,-0.6008124351501465f,-1.1845779418945312f,0.0006725912680849433f,-5.123662948608398f,-0.3245490491390228f,-0.17039598524570465f,-0.48568934202194214f,0.2491609752178192f,-0.5254827737808228f,-0.4019209146499634f,-0.45205947756767273f,-0.11511838436126709f,-0.25376296043395996f,-1.0519155263900757f,-0.30351927876472473f,-4.4755048751831055f,-0.9668168425559998f,-0.0748697966337204f,-0.23682299256324768f,-1.5599819421768188f,-0.04858483374118805f,-0.06531502306461334f,-0.1996605396270752f,-1.9289538860321045f,0.06930094957351685f,-0.4023730158805847f,-0.5252596735954285f},
-{-0.17396044731140137f,-0.13319158554077148f,-0.29632729291915894f,-0.08253633230924606f,0.24469541013240814f,-0.4006723463535309f,1.681721568107605f,-0.1761629432439804f,-0.6584062576293945f,-0.46532317996025085f,0.5183865427970886f,-0.2549247741699219f,0.652218222618103f,0.4208870232105255f,-0.19851773977279663f,-0.10762731730937958f,0.14198419451713562f,0.10370296239852905f,0.05107264220714569f,-0.3374244272708893f,-0.4275210201740265f,-0.08409949392080307f,0.144077330827713f,-0.19857197999954224f,0.365215003490448f,-0.2665709853172302f,0.19561566412448883f,-0.0672026053071022f,0.05259058624505997f,-0.1200934648513794f,-0.18380235135555267f,-0.13450540602207184f},
-{-0.12546227872371674f,-0.04642973095178604f,-0.08090300858020782f,0.12772545218467712f,-0.12954935431480408f,-0.02696622721850872f,-0.28310835361480713f,-0.020981580018997192f,0.17591875791549683f,-0.1450529396533966f,0.29896336793899536f,0.046816736459732056f,-0.04298720881342888f,0.14219975471496582f,-0.0649729073047638f,0.2468220293521881f,0.060016900300979614f,-0.16779978573322296f,0.04668818414211273f,0.08197735995054245f,-0.39826700091362f,0.34313735365867615f,-0.3017738461494446f,0.22389158606529236f,0.14340516924858093f,0.020356476306915283f,-0.2721497118473053f,0.0035998604726046324f,0.209790900349617f,-0.000007510185241699219f,0.094448983669281f,-0.08219978213310242f},
-{0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,0.7068386077880859f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,0.40995338559150696f,0.013024389743804932f,0.9262421727180481f,-0.20200279355049133f,1.5229910612106323f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,0.5197668671607971f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,0.6196404099464417f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f},
-{0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.1281055063009262f,0.3382647633552551f,0.021357093006372452f,0.06556430459022522f,0.29767414927482605f,0.36356815695762634f,-0.16670267283916473f,-0.24076372385025024f,-0.06570860743522644f,-0.015925198793411255f,0.07069825381040573f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,0.05369039997458458f,0.2353842556476593f,0.3308057188987732f,0.05352851003408432f,-0.04174882173538208f,-0.11559568345546722f,-0.17723068594932556f,0.21069613099098206f,-0.19532959163188934f,-0.13108225166797638f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f},
-{-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.17219038307666779f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.3421594202518463f,-0.007939159870147705f,-0.22979341447353363f,0.06509524583816528f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f},
-{0.07638216018676758f,0.05407004430890083f,-0.3668886423110962f,-0.2752448618412018f,0.1415041983127594f,0.0022521421778947115f,0.2795381247997284f,-0.25668495893478394f,-0.068914495408535f,0.10158132016658783f,0.06494732201099396f,0.02524423599243164f,0.12282950431108475f,0.24383525550365448f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.1364271640777588f,0.24141009151935577f,0.1474008858203888f,-0.013429519720375538f,-0.19389307498931885f,-0.17324526607990265f,0.20270048081874847f,0.1901901364326477f,-0.27945125102996826f,-0.050236884504556656f,-0.11887363344430923f,0.22636333107948303f,-0.3317737579345703f,0.18050488829612732f},
+const float h3[16][16] = { 
+    {-0.36079341173171997f,-1.8617219924926758f,-1.2575057744979858f,-0.9306641817092896f,0.3558339774608612f,-2.0424766540527344f,0.11611730605363846f,1.256561040878296f,-0.435831755399704f,0.38453155755996704f,-2.9874141216278076f,0.10927560925483704f,-1.1128313541412354f,-2.5368101596832275f,-1.1479690074920654f,-0.39199838042259216f},
+{0.047732532024383545f,-1.2678391933441162f,-2.529970169067383f,2.9182093143463135f,-0.27740737795829773f,-0.7743249535560608f,-0.4142161011695862f,0.22686052322387695f,-0.351260244846344f,-1.1779210567474365f,0.9747219681739807f,-0.40117883682250977f,1.327101707458496f,0.6030343770980835f,-0.22775816917419434f,-3.164977788925171f},
+{0.07903262972831726f,0.22941854596138f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,-0.05057113990187645f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
+{-0.30922991037368774f,1.0314021110534668f,0.1642177850008011f,-0.4614163041114807f,-0.13128569722175598f,0.8268561959266663f,0.20021501183509827f,-1.2866121530532837f,-0.5409347414970398f,-0.9091742038726807f,-0.2354840338230133f,0.41021624207496643f,0.35516393184661865f,0.8673098087310791f,1.322227120399475f,1.4147356748580933f},
+{-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,1.8969228267669678f,0.26356711983680725f,0.1305214911699295f,0.4255841374397278f,1.1492807865142822f,-0.18732719123363495f,0.22384825348854065f,-0.9112855792045593f,-0.06272096186876297f,-0.194618821144104f,0.5028096437454224f,-0.5430096983909607f,1.8543678522109985f,1.0055639743804932f,0.5463916659355164f},
+{0.4110594093799591f,-0.10662679374217987f,-0.26057958602905273f,0.37246426939964294f,0.4791482985019684f,-0.2845681607723236f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.039170607924461365f,0.35313835740089417f,0.35766708850860596f,-0.12171289324760437f,0.19238731265068054f,0.04569069296121597f},
+{-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
+{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,2.152371644973755f,0.005577231291681528f,-0.15224629640579224f,-0.4193795323371887f,0.9709478616714478f,-0.08742031455039978f,-0.3372936546802521f,-0.15335285663604736f,-0.4697112739086151f,0.37293538451194763f,-0.2729160487651825f,0.29973986744880676f,0.8407669067382812f,0.6116405725479126f,0.041041117161512375f},
+{-0.408692330121994f,-1.024823784828186f,0.07979505509138107f,0.9620193243026733f,0.40785548090934753f,-0.19494971632957458f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,-0.39687445759773254f,0.03996849060058594f,0.11638089269399643f,-2.3363451957702637f,-0.1602039635181427f,0.8980573415756226f},
+{-0.2991822361946106f,0.1481817066669464f,-0.004251172766089439f,-0.05932474136352539f,0.3329566717147827f,0.009607115760445595f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,0.028703585267066956f,-0.36229726672172546f,0.35251477360725403f,-0.18715228140354156f,0.2748355269432068f,0.3479139804840088f},
+{-0.2675279378890991f,-0.8848872780799866f,0.2171228677034378f,0.15358519554138184f,0.7216522693634033f,-1.1589571237564087f,-0.5819693803787231f,-7.12623405456543f,-0.5964111685752869f,-2.346191644668579f,0.9024726748466492f,-0.7827144861221313f,0.5923935174942017f,-0.09883228689432144f,-0.274576336145401f,0.9632737040519714f},
+{-0.015470266342163086f,-4.066640853881836f,-0.35172760486602783f,-0.1611492931842804f,0.011647416278719902f,-1.6305570602416992f,-0.16005642712116241f,-1.9158589839935303f,-0.5295083522796631f,-3.62418794631958f,-2.0960512161254883f,-0.5138456225395203f,-1.9036948680877686f,-2.3704395294189453f,-1.1995127201080322f,-0.005027666687965393f},
+{0.1863725483417511f,0.1643422544002533f,-3.06244158744812f,-0.7068259716033936f,-0.37519770860671997f,-0.8317462205886841f,-0.06685321033000946f,-0.9036019444465637f,-0.2971649169921875f,-0.7144879102706909f,-2.9270541667938232f,-0.05449836328625679f,-2.543490171432495f,-2.367345094680786f,-1.3904540538787842f,-0.02221091091632843f},
 };
 
-const float hout[32] = { 0.016861308366060257f,0.02745733968913555f,0.07825727015733719f,0.8766828179359436f,-0.05232406407594681f,0.35792431235313416f,1.570347547531128f,0.10329969972372055f,0.4806658923625946f,-0.062165163457393646f,0.15290232002735138f,0.09420708566904068f,-0.11127324402332306f,0.13416433334350586f,0.10202100872993469f,0.006314356345683336f,-0.003878760151565075f,-0.18621718883514404f,0.1323828548192978f,-0.10361719876527786f,-0.09726173430681229f,0.010512445122003555f,0.0036775292828679085f,-0.028018292039632797f,0.5220573544502258f,0.21163398027420044f,-0.3082039952278137f,0.26232731342315674f,0.8687447309494019f,-0.16385973989963531f,-0.09068699926137924f,0.10824593156576157f };
+const float hout[16] = { 0.45773375034332275f,0.3510032594203949f,-0.09271220117807388f,0.23885536193847656f,-0.13681545853614807f,0.8108619451522827f,-0.013286924920976162f,0.7315025329589844f,-0.037878382951021194f,0.07188846170902252f,-0.21298690140247345f,0.053339168429374695f,0.7597355246543884f,0.32502415776252747f,1.824535846710205f,-0.24919147789478302f };
 
-const float b1[32] = { 0.6189494729042053f,1.717569351196289f,-1.7145336866378784f,1.2212576866149902f,2.3427574634552f,0.7081863880157471f,-0.09428720921278f,0.3455063998699188f,0.6096851825714111f,-3.0868020057678223f,0.5562145113945007f,2.118533134460449f,-0.3425353467464447f,-0.940459668636322f,-1.087764859199524f,0.8448495864868164f,0.49272775650024414f,-0.26377663016319275f,1.244008183479309f,0.8255248665809631f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,4.908173561096191f,-2.0880801677703857f,-1.0489267110824585f,0.42044439911842346f,0.12164653092622757f,-1.0887231826782227f,2.485891342163086f,-0.4767896831035614f };
+const float b1[16] = { 2.6026535034179688f,2.6166093349456787f,-1.7145336866378784f,0.05604401230812073f,2.5074756145477295f,1.8178743124008179f,-0.058932315558195114f,2.566000461578369f,2.066876173019409f,-2.594883441925049f,0.573148787021637f,0.8882091641426086f,-0.367378294467926f,-2.1727375984191895f,-1.087764859199524f,3.129455089569092f };
+
+const float b2[16] = { 0.854680061340332f,-1.5880934000015259f,-1.5945011377334595f,-1.1204560995101929f,-0.6939148902893066f,-0.8427667021751404f,0.11775382608175278f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-1.1466102600097656f,2.1076982021331787f,-0.33285725116729736f,3.093627452850342f,1.846516489982605f,0.7689627408981323f };
 
-const float b2[32] = { -0.5226120352745056f,-0.7642630338668823f,-1.4564176797866821f,-0.4946267604827881f,-0.8452438116073608f,0.1087772473692894f,-0.6319846510887146f,-0.30969977378845215f,-0.8028555512428284f,-1.912178635597229f,-0.30677375197410583f,0.8741645812988281f,-0.17443345487117767f,0.93160480260849f,-4.624051570892334f,1.084857702255249f,-1.798204779624939f,-1.68979811668396f,-0.05761605501174927f,-0.3331492841243744f,-0.17662832140922546f,0.076245978474617f,0.09335066378116608f,-1.2434346675872803f,0.6772512793540955f,3.3463151454925537f,0.08881940692663193f,-0.19115522503852844f,-0.9640821814537048f,-0.5077025890350342f,-1.296404242515564f,-1.4682079553604126f };
+const float b3[16] = { -1.963319182395935f,1.6035748720169067f,-1.0893652439117432f,1.0509281158447266f,-1.7570738792419434f,-0.17915689945220947f,-0.6738864183425903f,0.7415692210197449f,-0.12905780971050262f,-0.6975569128990173f,-0.5690303444862366f,-0.27897197008132935f,-2.201923131942749f,1.7163525819778442f,-1.6757004261016846f,0.005519242025911808f };
+
+const float bout[1] = { 0.3794841468334198f };
 
-const float b3[32] = { -2.1200947761535645f,-0.6417744755744934f,-0.20833487808704376f,-0.4100790023803711f,-2.229132890701294f,0.2740940451622009f,-0.2966175079345703f,-0.737217366695404f,1.8642381429672241f,0.08214375376701355f,-0.47954219579696655f,-0.2409215271472931f,2.223055839538574f,0.04726779833436012f,-1.2977863550186157f,-0.5223850607872009f,-1.4806815385818481f,-1.1570241451263428f,-0.461347371339798f,-0.14962559938430786f,0.9796155095100403f,0.42978283762931824f,-1.2275103330612183f,-1.0708273649215698f,0.8111138343811035f,-0.5128193497657776f,-0.31590235233306885f,0.1044965386390686f,-0.028853775933384895f,-2.4177253246307373f,-0.28963881731033325f,0.25216880440711975f };
 
-const float bout[1] = { -0.1287642866373062f };
-
+float VALVE_POS_RAW_NN = 0.0f;
+float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
 
 int main()
 {
@@ -396,6 +367,8 @@
         
         timer_while ++;
         
+        //LED = 0;
+        
         if(NN_Control_Flag == 0) {
             LED = 0;
         }
@@ -453,6 +426,30 @@
             } else {
                 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
             }
+
+            // torque feedback
+            torq.err = f_past[0] - torq.sen; //[N]
+//            torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
+            torq.err_sum += torq.err/(float) 1500.0f; //[N]
+    
+
+            valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
+
+            if(I_GAIN_JOINT_TORQUE != 0) {
+                double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
+                if(valve_pos.ref>VALVE_MAX_POS) {
+                    double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
+                    valve_pos_rem = valve_pos_rem * Ka;
+                    valve_pos.ref = VALVE_MAX_POS;
+                    torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
+                } else if(valve_pos.ref < VALVE_MIN_POS) {
+                    double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
+                    valve_pos_rem = valve_pos_rem * Ka;
+                    valve_pos.ref = VALVE_MIN_POS;
+                    torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
+                }
+            }
+            
             
             if(LED==1) {
                 LED=0;
@@ -461,6 +458,7 @@
             
         }
         
+        //LED = 1;
         
 
     }