Diff: main.cpp

Revision:

204:51e8f3d98cf8

Parent:

203:af08624e14f1

Child:

205:f3ffa0306a53

--- a/main.cpp	Mon Dec 21 07:51:48 2020 +0000
+++ b/main.cpp	Mon Dec 21 10:27:17 2020 +0000
@@ -1,4 +1,4 @@
-//201221_3
+//201221_4
 #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] = {
-    {-1.937616229057312f,1.6892753839492798f,0.12903714179992676f,-1.6232370138168335f,-2.401829957962036f,1.523833990097046f,-0.2411201298236847f,1.5705397129058838f,-0.021944250911474228f,0.04644256457686424f,0.051476314663887024f,-2.665997266769409f,-0.6274265646934509f,-1.7365219593048096f,-0.2571594715118408f,-2.2585785388946533f},
-{-1.3377652168273926f,1.074742078781128f,-0.3927857577800751f,-1.2378159761428833f,-1.6760448217391968f,0.8089081645011902f,-0.4718068242073059f,1.0322989225387573f,0.01578301377594471f,0.3116544187068939f,-0.02028515934944153f,-1.7666627168655396f,0.16080565750598907f,-1.5004796981811523f,-0.20967772603034973f,-1.334715485572815f},
-{-0.7998895049095154f,0.5109922885894775f,0.36391180753707886f,-1.1221883296966553f,-0.7171371579170227f,0.5821225047111511f,0.22077886760234833f,0.7617179751396179f,0.06225375458598137f,0.33027592301368713f,0.1915585845708847f,-1.0418609380722046f,-0.0893695205450058f,-0.11921176314353943f,0.05590221285820007f,-1.094153881072998f},
-{0.01921302266418934f,-0.44504424929618835f,0.39742106199264526f,0.14442750811576843f,0.1817796379327774f,-0.3633936941623688f,-0.1822839081287384f,0.5295209884643555f,0.3982148766517639f,0.47919341921806335f,0.7370041012763977f,0.26466938853263855f,-0.3005327880382538f,0.6698964238166809f,-0.2961459457874298f,-0.12810474634170532f},
-{1.538445234298706f,-1.2775852680206299f,-0.0051451027393341064f,1.1201297044754028f,1.3208760023117065f,-1.030971884727478f,0.06295595318078995f,-0.39904701709747314f,0.2528730034828186f,0.3093512952327728f,0.4328072667121887f,1.0906072854995728f,-0.10629773885011673f,1.3204220533370972f,-0.3865056037902832f,0.5664471983909607f},
-{3.1024463176727295f,-3.198532819747925f,0.21773302555084229f,2.7270781993865967f,2.935645341873169f,-2.771397113800049f,0.09868708997964859f,-1.2613369226455688f,-0.41684624552726746f,0.3338526487350464f,-1.6985595226287842f,2.5546627044677734f,0.29588234424591064f,1.3862406015396118f,-0.4132833778858185f,2.0048415660858154f},
-{0.06956255435943604f,-0.05321533977985382f,-0.2501986622810364f,-1.4519786834716797f,-0.33464330434799194f,1.2587628364562988f,0.15304742753505707f,-2.26163649559021f,3.585217237472534f,-0.28293201327323914f,5.154526233673096f,0.5794693231582642f,5.0107269287109375f,5.003079891204834f,-0.15618428587913513f,0.033415380865335464f},
-{-0.020075902342796326f,-0.1643243283033371f,-0.26619744300842285f,-0.18593834340572357f,-0.1409730166196823f,0.47432762384414673f,-0.08493955433368683f,-0.12057889252901077f,-0.48468324542045593f,-0.019566243514418602f,2.895782232284546f,-0.007996412925422192f,1.749755620956421f,2.5762343406677246f,0.04303058981895447f,-0.22570134699344635f},
-{0.22144588828086853f,0.33986133337020874f,0.10248100757598877f,1.019708275794983f,-0.13581493496894836f,-0.6283541917800903f,0.02221924066543579f,4.817266941070557f,-6.656972408294678f,0.36143940687179565f,-2.073807954788208f,-0.20470626652240753f,-0.8756301999092102f,-1.5488929748535156f,-0.30555272102355957f,0.11432930082082748f},
-{-0.09354252368211746f,-0.150253027677536f,0.18462657928466797f,0.36420926451683044f,0.2684146761894226f,-0.19604390859603882f,-0.20438535511493683f,0.48530617356300354f,0.1402730941772461f,-0.3501964807510376f,-0.5927870273590088f,-0.25077950954437256f,-1.6494965553283691f,-0.26851409673690796f,0.3484981060028076f,-0.026472678408026695f},
-{0.27716726064682007f,0.17933055758476257f,0.37182438373565674f,0.21694263815879822f,-0.08074416220188141f,-0.5063952207565308f,-0.1089874804019928f,-0.7478405237197876f,1.0328670740127563f,0.06563376635313034f,-0.3841067850589752f,-0.19340310990810394f,-0.8041980266571045f,-0.35194921493530273f,0.26688337326049805f,-0.009289426729083061f},
-{-0.4027383625507355f,-0.17150770127773285f,-0.40320003032684326f,0.07079007476568222f,0.005716579034924507f,-0.2660377025604248f,0.24819371104240417f,-1.626651644706726f,1.1980537176132202f,0.18538308143615723f,-0.7043436765670776f,0.22566141188144684f,-0.6315297484397888f,-0.39967721700668335f,0.10493969917297363f,0.14468303322792053f},
-{-0.01867377758026123f,-0.0568658821284771f,0.19847965240478516f,0.11763222515583038f,0.0849955752491951f,-0.07244937866926193f,-0.14473961293697357f,-0.34966281056404114f,0.6549851894378662f,-0.12420213222503662f,-0.5040991306304932f,-0.1481575220823288f,-0.8610554933547974f,-0.1289798468351364f,-0.22268100082874298f,0.01744838058948517f},
-{-0.038531042635440826f,0.06264675408601761f,0.4127817749977112f,-0.09437692910432816f,-0.16524609923362732f,-0.1568542718887329f,-0.22459450364112854f,-0.16035981476306915f,0.007792453281581402f,-0.11092106252908707f,-0.42938950657844543f,0.2258325070142746f,-0.36687782406806946f,-0.05758687108755112f,0.0479682981967926f,0.035920385271310806f},
-{0.21749328076839447f,0.1242302656173706f,0.20282304286956787f,0.02499271370470524f,0.16738873720169067f,0.044944681227207184f,0.13709530234336853f,0.29508256912231445f,0.322313129901886f,0.12534599006175995f,-0.06080000847578049f,-0.2731396555900574f,0.028080319985747337f,-0.004361992236226797f,0.0668090283870697f,0.04195671156048775f},
-{-0.014822322875261307f,-0.09126006811857224f,-0.40439701080322266f,0.0640999898314476f,-0.06501635164022446f,0.4254366457462311f,-0.06050308421254158f,-0.6540153622627258f,-0.03133808821439743f,-0.03438715636730194f,-0.10393131524324417f,0.037214238196611404f,0.019753944128751755f,0.2401929795742035f,-0.08245879411697388f,-0.018402650952339172f},
-{-0.18000495433807373f,-0.008730988018214703f,0.16706281900405884f,0.22033286094665527f,0.20727619528770447f,-0.27539098262786865f,0.0547083355486393f,-1.2074394226074219f,-0.08884167671203613f,0.016598667949438095f,-2.7905259132385254f,0.049532148987054825f,-2.8334755897521973f,0.2949661910533905f,0.29427415132522583f,-0.11820589005947113f},
+    {-2.0806894302368164f,1.8419220447540283f,0.12903714179992676f,0.3766104280948639f,-2.5691683292388916f,1.3948698043823242f,-1.6932644844055176f,0.47781115770339966f,-0.774815022945404f,-0.14850656688213348f,-0.03650430217385292f,-2.368614435195923f,-2.1139299869537354f,-1.45517098903656f,-0.2571594715118408f,-0.06029130890965462f},
+{-1.499216914176941f,1.2110093832015991f,-0.3927857577800751f,0.0755331888794899f,-1.912123441696167f,0.634615957736969f,-1.588600993156433f,0.1134842112660408f,-0.4692782759666443f,0.13740988075733185f,-0.028703559190034866f,-1.5429214239120483f,-0.7857987880706787f,-1.4273113012313843f,-0.20967772603034973f,0.22353018820285797f},
+{-0.9740145802497864f,0.6290917992591858f,0.36391180753707886f,-0.2652323544025421f,-1.0473108291625977f,0.27822592854499817f,-0.6762312054634094f,0.24158823490142822f,-0.48006561398506165f,0.17687489092350006f,0.1041826531291008f,-0.9442924857139587f,-0.3642197847366333f,-0.5978294014930725f,0.05590221285820007f,-0.008679859340190887f},
+{-0.1346927434206009f,-0.36659669876098633f,0.39742106199264526f,0.4090283513069153f,-0.21661870181560516f,-0.7815824747085571f,-0.6867067217826843f,0.45081475377082825f,-0.22874140739440918f,0.3471550941467285f,0.611111044883728f,0.28319814801216125f,0.14088939130306244f,-0.1510155200958252f,-0.2961459457874298f,0.3566420078277588f},
+{1.43129301071167f,-1.254888892173767f,-0.0051451027393341064f,0.3767557144165039f,0.8894379734992981f,-1.431206464767456f,0.2549896836280823f,-0.16752402484416962f,-0.12987858057022095f,0.19921472668647766f,0.48584452271461487f,1.1332663297653198f,0.9898359179496765f,0.9567762017250061f,-0.3865056037902832f,0.11671999096870422f},
+{3.0383973121643066f,-3.2238690853118896f,0.21773302555084229f,0.4259805679321289f,2.487938642501831f,-2.927023410797119f,1.3221275806427002f,-0.9985578656196594f,0.015695471316576004f,0.24681439995765686f,-1.112740397453308f,2.7345285415649414f,1.7078537940979004f,2.5884315967559814f,-0.4132833778858185f,0.1871054768562317f},
+{-0.08909858763217926f,0.04017534852027893f,-0.2501986622810364f,-1.4312419891357422f,0.10488540679216385f,-0.006775588262826204f,0.036645688116550446f,-0.03338433802127838f,-0.4603580832481384f,-0.04075203463435173f,6.466564655303955f,0.14596475660800934f,-3.76338529586792f,0.8909745216369629f,-0.15618428587913513f,-0.5056508779525757f},
+{-0.0644197091460228f,-0.0824904516339302f,-0.26619744300842285f,-0.9450392127037048f,0.21956279873847961f,0.5414075255393982f,0.06343743950128555f,0.26915308833122253f,-0.18562251329421997f,0.05249443277716637f,2.5711328983306885f,-0.20299145579338074f,0.32254835963249207f,-0.6894297003746033f,0.04303058981895447f,-2.268955945968628f},
+{0.010134553536772728f,0.07090140879154205f,0.10248100757598877f,-1.4144065380096436f,0.14498041570186615f,0.6121429800987244f,1.7088721990585327f,-6.707942485809326f,-0.6278461217880249f,0.4125310778617859f,-1.9015189409255981f,-0.17366135120391846f,2.945331573486328f,1.5498052835464478f,-0.30555272102355957f,-2.353926420211792f},
+{-0.19771908223628998f,-0.37083661556243896f,0.18462657928466797f,-1.2041350603103638f,0.46593061089515686f,0.6668076515197754f,1.1944712400436401f,-3.0236237049102783f,-0.08968208730220795f,-0.4030909240245819f,-0.7150384187698364f,-0.663982093334198f,1.4682765007019043f,0.37283697724342346f,0.3484981060028076f,-1.2506699562072754f},
+{0.22058553993701935f,0.1321832835674286f,0.37182438373565674f,-0.7691853046417236f,0.06517745554447174f,0.28921499848365784f,0.5419366955757141f,-2.370201587677002f,-0.4239056408405304f,0.043917566537857056f,-0.2696247398853302f,-0.37864330410957336f,0.1648407280445099f,0.5010892748832703f,0.26688337326049805f,-0.7171939015388489f},
+{-0.31798315048217773f,-0.23621180653572083f,-0.40320003032684326f,-0.8372410535812378f,0.21226218342781067f,0.13394197821617126f,0.0203731507062912f,0.9504984617233276f,-0.27080845832824707f,0.14300179481506348f,-0.6072286367416382f,0.24522404372692108f,-0.6103735566139221f,0.15849997103214264f,0.10493969917297363f,0.48328933119773865f},
+{-0.019870232790708542f,-0.04535185545682907f,0.19847965240478516f,-0.645010232925415f,0.15441982448101044f,0.19513094425201416f,-0.15949001908302307f,1.0981990098953247f,-0.358957976102829f,-0.2793225646018982f,-0.32054436206817627f,-0.08625413477420807f,-0.525904655456543f,0.22998401522636414f,-0.22268100082874298f,0.5257316827774048f},
+{-0.011861208826303482f,-0.03636765852570534f,0.4127817749977112f,-0.8922302722930908f,-0.20182070136070251f,-0.12261747568845749f,-0.2627313435077667f,0.48942577838897705f,-0.2826015055179596f,-0.31948286294937134f,-0.30100518465042114f,0.10201402753591537f,-0.18361657857894897f,0.19040097296237946f,0.0479682981967926f,1.3197470903396606f},
+{0.12351126223802567f,0.0939125269651413f,0.20282304286956787f,-0.734791100025177f,0.0898694396018982f,-0.13186074793338776f,0.02113427221775055f,0.47443610429763794f,0.09890269488096237f,-0.0655839666724205f,-0.04224861413240433f,-0.30557194352149963f,0.7833285927772522f,0.17788979411125183f,0.0668090283870697f,1.285325527191162f},
+{-0.03807421028614044f,-0.1136704608798027f,-0.40439701080322266f,-1.0595369338989258f,-0.13023366034030914f,0.10300719738006592f,-0.14926490187644958f,1.3389246463775635f,0.05884883925318718f,-0.18226976692676544f,0.31049856543540955f,-0.010614922270178795f,-0.21370303630828857f,-0.021214483305811882f,-0.08245879411697388f,2.3053054809570312f},
+{-0.16781732439994812f,0.013002467341721058f,0.16706281900405884f,-1.1158241033554077f,-0.045615483075380325f,-0.4337211847305298f,-0.27456235885620117f,1.5922147035598755f,-0.2640377879142761f,-0.04499654844403267f,-1.8151977062225342f,0.38335272669792175f,-2.189336061477661f,0.884656548500061f,0.29427415132522583f,4.138731479644775f},
 };
 
 const float h2[16][16] = {
-    {-0.3090015947818756f,1.6208373308181763f,-0.06966331601142883f,-0.9481745958328247f,-0.21907491981983185f,1.1872100830078125f,-0.13107961416244507f,-0.05433879420161247f,-0.43008196353912354f,-0.3123282194137573f,0.390994131565094f,-1.5013009309768677f,-0.01987958326935768f,-2.6587913036346436f,-0.23618918657302856f,0.6807677745819092f},
-{-0.06248587742447853f,-1.6422983407974243f,0.057057321071624756f,3.4045002460479736f,-0.35503754019737244f,-1.817239761352539f,-0.7840033173561096f,-0.4099009335041046f,-0.33757925033569336f,0.16913212835788727f,-1.3786208629608154f,2.0135135650634766f,0.1819944530725479f,1.9978737831115723f,-0.5744423866271973f,-5.981582164764404f},
+    {-0.373119056224823f,3.5553245544433594f,-0.18637831509113312f,3.7563912868499756f,-0.3262759745121002f,-2.3471240997314453f,-0.08586140722036362f,-0.0851021334528923f,-0.43008196353912354f,-0.20591317117214203f,-3.0219662189483643f,-2.8412041664123535f,-1.2025442123413086f,-1.6519156694412231f,-1.1901919841766357f,-1.2586970329284668f},
+{-0.21345800161361694f,-2.3205506801605225f,-0.09147269278764725f,-2.9883475303649902f,-0.38782384991645813f,-0.1081438660621643f,-1.32341730594635f,-0.39894118905067444f,-0.33757925033569336f,0.22082164883613586f,-12.76615047454834f,-10.454728126525879f,-0.8961352109909058f,3.2336769104003906f,1.445095181465149f,-1.3371248245239258f},
 {-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},
-{-0.03178049623966217f,-0.8131304979324341f,-0.2894435524940491f,1.2561331987380981f,0.08946844935417175f,1.2210415601730347f,-0.6011916399002075f,0.24196764826774597f,0.26211628317832947f,0.15609227120876312f,0.014851362444460392f,-0.6861884593963623f,-0.404754102230072f,-0.5683156251907349f,0.08130434155464172f,-0.8013246059417725f},
-{-0.32058393955230713f,1.4176533222198486f,-0.25313520431518555f,1.537668228149414f,0.036378175020217896f,0.05584760755300522f,-0.5158199071884155f,-0.2409054934978485f,-0.024399548768997192f,-0.5181405544281006f,-1.461106538772583f,1.0814340114593506f,-0.04617944359779358f,-1.5253833532333374f,-0.34499627351760864f,-2.434572696685791f},
-{0.23731890320777893f,0.3835252821445465f,-0.3519742488861084f,-0.6750868558883667f,-0.3015052080154419f,-1.1046686172485352f,-0.7732006311416626f,-0.049492619931697845f,-0.23047015070915222f,0.22523438930511475f,-0.6912863254547119f,1.2645047903060913f,-0.36501824855804443f,0.41980060935020447f,0.07768365740776062f,-1.013782262802124f},
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-{0.0638587698340416f,0.08452736586332321f,0.33083590865135193f,0.21984468400478363f,-0.14358049631118774f,0.7736623883247375f,-0.3517768979072571f,-0.3302004635334015f,0.2600560486316681f,-0.37898191809654236f,-0.4686727523803711f,-0.9677302241325378f,-0.40443408489227295f,0.24395141005516052f,-0.1905393749475479f,-0.18576908111572266f},
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 };
 
 const float h3[16][16] = {
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-{-0.2675279378890991f,-0.5946564078330994f,-1.1874229907989502f,2.3222973346710205f,0.15480443835258484f,-0.03476535901427269f,-0.4022018313407898f,-0.4624636471271515f,-2.233513355255127f,-0.9150521159172058f,-0.5386524796485901f,-3.766902208328247f,0.4342649281024933f,-2.808518886566162f,-0.3761671781539917f,0.47754913568496704f},
-{-0.015470266342163086f,-0.2279081642627716f,0.2936706244945526f,0.5660016536712646f,-0.06798931956291199f,-0.2461162805557251f,0.05196094512939453f,-0.008358269929885864f,-0.35892540216445923f,-0.38441595435142517f,0.10518988966941833f,-0.3137741982936859f,0.09256716817617416f,0.11416716128587723f,0.2110854685306549f,-0.29668670892715454f},
-{0.1863725483417511f,1.1505354642868042f,-1.7631850242614746f,2.4211480617523193f,-0.6060390472412109f,2.548659563064575f,-0.061775803565979004f,0.17769548296928406f,2.0680930614471436f,-0.07521702349185944f,-0.4195588529109955f,0.9091949462890625f,-0.5073791146278381f,1.695716381072998f,0.010379442013800144f,2.075155258178711f},
+{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.19755424559116364f,0.4533067047595978f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.02909536473453045f,0.41849127411842346f,-0.287167489528656f,0.0940583124756813f,-0.14209046959877014f,0.0495246946811676f,-0.0824357196688652f},
+{0.15459725260734558f,0.4935417175292969f,-0.25264647603034973f,0.11184422671794891f,-0.3341422379016876f,1.1511648893356323f,-0.08742031455039978f,-0.36949634552001953f,1.6829259395599365f,2.233215093612671f,0.07771988958120346f,-0.41695454716682434f,-0.10912178456783295f,1.7060784101486206f,2.532484769821167f,2.331334114074707f},
+{-0.408692330121994f,0.8799136281013489f,-0.14514438807964325f,-0.20895916223526f,-1.578966498374939f,1.469042181968689f,0.03285527229309082f,0.4112691879272461f,1.0228923559188843f,2.2706377506256104f,0.12809070944786072f,0.03996849060058594f,0.9477834105491638f,1.5862021446228027f,0.10855130106210709f,-2.259545087814331f},
+{-0.2991822361946106f,-0.6050435900688171f,0.9256192445755005f,-0.08229707181453705f,0.15689420700073242f,0.4238896071910858f,-0.11253207921981812f,0.2177363783121109f,-0.05294230207800865f,-0.5830169916152954f,-1.0703593492507935f,-0.36229726672172546f,-0.8443012237548828f,0.37606582045555115f,0.5651885867118835f,-1.0894941091537476f},
+{-0.2675279378890991f,-2.22987699508667f,0.15863703191280365f,-0.21841442584991455f,1.3560339212417603f,-0.492367148399353f,-0.32875844836235046f,-0.802202045917511f,-0.1637519896030426f,-4.078615188598633f,-1.2283751964569092f,-0.5240398645401001f,0.19471454620361328f,-0.13531909883022308f,1.8324934244155884f,0.5436633825302124f},
+{-0.015470266342163086f,-1.0924882888793945f,0.5259896516799927f,0.0900004431605339f,-0.9157431721687317f,-0.07713504880666733f,-0.021036196500062943f,-0.6448765397071838f,-0.3460008203983307f,0.1362907439470291f,-0.37829816341400146f,-0.20573563873767853f,-0.7316341996192932f,-0.5581928491592407f,-1.8910645246505737f,-0.6874275207519531f},
+{0.1863725483417511f,0.9558444023132324f,-0.8446718454360962f,-0.6416004300117493f,0.08933153003454208f,0.5898428559303284f,0.04860696196556091f,0.17769548296928406f,1.308203935623169f,0.42126715183258057f,-0.4451454281806946f,0.08378204703330994f,0.3650934100151062f,0.6331697702407837f,0.21046006679534912f,0.009809033945202827f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.13627997040748596f,-0.0829579159617424f,-0.23971226811408997f,-0.09267473965883255f,0.2720899283885956f,-0.10775045305490494f,0.08958824723958969f,-0.20597738027572632f,0.020479021593928337f,0.023187460377812386f,-0.1408407837152481f,-0.17400237917900085f,0.3978644013404846f,1.4695531129837036f,-0.2842816114425659f };
-
-const float b1[16] = { -0.08008207380771637f,1.6345624923706055f,-1.7145336866378784f,0.13955503702163696f,0.8351345658302307f,1.2412387132644653f,-0.1339941918849945f,-2.003366708755493f,-0.44007086753845215f,-1.833985447883606f,0.3371756672859192f,1.532662272453308f,0.526281476020813f,-2.292440176010132f,-1.087764859199524f,2.1556193828582764f };
-
-const float b2[16] = { -0.24235272407531738f,-0.5724771022796631f,-1.4564176797866821f,1.2012637853622437f,-0.6939148902893066f,-0.4857896566390991f,0.1134854257106781f,-0.4887356460094452f,-1.20063054561615f,-2.064121961593628f,-0.4152926802635193f,-0.6429468393325806f,-0.233653262257576f,2.131087303161621f,-0.09679675847291946f,1.624418020248413f };
-
-const float b3[16] = { -1.963319182395935f,0.5112237930297852f,0.24433067440986633f,0.05098426342010498f,0.7135115265846252f,0.6910668611526489f,-0.5711464285850525f,-0.8011982440948486f,-1.40574312210083f,-0.04465394467115402f,-0.4661113917827606f,-0.8684760928153992f,-1.2210686206817627f,-0.19784891605377197f,-1.8298512697219849f,-1.0926474332809448f };
-
-const float bout[1] = { -0.39276280999183655f };
+const float hout[16] = { 0.45773375034332275f,0.10028111189603806f,-0.15963390469551086f,-0.16705428063869476f,-0.13918212056159973f,0.13862498104572296f,-0.03826538845896721f,-0.08387956768274307f,-0.13896769285202026f,-0.1727340966463089f,0.4263496398925781f,0.039233312010765076f,-0.14129970967769623f,0.21044084429740906f,0.17624303698539734f,-0.1203421801328659f };
+
+const float b1[16] = { 0.6145862936973572f,1.4653651714324951f,-1.7145336866378784f,-0.8318495154380798f,1.8101054430007935f,1.8614740371704102f,1.4533389806747437f,2.6761667728424072f,0.17127400636672974f,-1.12446928024292f,-1.444535255432129f,1.2159825563430786f,0.3056347072124481f,-1.360192060470581f,-1.087764859199524f,-2.10600209236145f };
+
+const float b2[16] = { -0.23251420259475708f,-0.42732852697372437f,-1.6084238290786743f,-0.17800576984882355f,-0.9509057402610779f,-0.00474552670493722f,0.10984312742948532f,-0.4811083972454071f,-1.20063054561615f,-1.9749670028686523f,1.7751399278640747f,1.0225811004638672f,-0.07708542048931122f,1.9233418703079224f,0.42136311531066895f,0.17162247002124786f };
+
+const float b3[16] = { -1.963319182395935f,-0.9337409734725952f,0.4731481671333313f,-0.5163841247558594f,-0.23898737132549286f,0.5903229713439941f,-0.4740028977394104f,-0.8475961685180664f,-0.9789288640022278f,-0.7117742300033569f,-0.2875189781188965f,-0.3560875654220581f,-1.3554514646530151f,-0.16300444304943085f,-0.8108376264572144f,0.2676752209663391f };
+
+const float bout[1] = { -0.12355829030275345f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////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;
             }