Diff: main.cpp

Revision:

144:fb8c3025963c

Parent:

143:d441540d477e

Child:

145:35f5ec0d7e56

Child:

146:0b606cae0984

--- a/main.cpp	Thu Oct 08 06:39:10 2020 +0000
+++ b/main.cpp	Thu Oct 08 07:35:31 2020 +0000
@@ -1,4 +1,4 @@
-//201008-4
+//201008-5
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -193,77 +193,77 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = { 
-   {-1.5981804132461548f,1.1824954748153687f,0.12024858593940735f,0.4093947112560272f,-1.422607183456421f,1.731093406677246f,-0.1628284603357315f,1.4081450700759888f,-0.2713867425918579f,-0.011982741765677929f,-0.18945936858654022f,-1.7265640497207642f,-0.5893836617469788f,-0.6974841356277466f,-0.2396446317434311f,-0.5248772501945496f},
-{-1.3474056720733643f,0.7813299894332886f,-0.36603355407714844f,0.07899521291255951f,-1.0529745817184448f,1.0410888195037842f,-0.3777896761894226f,0.7995219826698303f,-0.07959098368883133f,0.2428562492132187f,-0.22377769649028778f,-1.112268090248108f,0.0010696513345465064f,-0.8278091549873352f,-0.1953967958688736f,-0.16586850583553314f},
-{-1.0209048986434937f,0.290720134973526f,0.33912619948387146f,-0.28886330127716064f,-0.36989912390708923f,0.6065747737884521f,0.2676515281200409f,0.44541263580322266f,-0.15554538369178772f,0.26785042881965637f,-0.2926534414291382f,-0.589061439037323f,-0.09406202286481857f,0.01780690997838974f,0.05209478735923767f,-0.2884119749069214f},
-{-0.4909285604953766f,-0.5002466440200806f,0.3703531324863434f,0.28797078132629395f,0.15131209790706635f,-0.4102385342121124f,-0.10795548558235168f,0.09374773502349854f,0.01578444615006447f,0.41431212425231934f,0.12093505263328552f,0.42216575145721436f,-0.11591208726167679f,0.4052741825580597f,-0.27597576379776f,0.12506026029586792f},
-{0.5847243666648865f,-1.055076003074646f,-0.004794687032699585f,0.20541422069072723f,0.6966517567634583f,-0.9300774335861206f,0.12058994174003601f,-0.9839825630187988f,0.02179347723722458f,0.26395392417907715f,0.35569658875465393f,0.936687171459198f,0.10593732446432114f,1.175402045249939f,-0.36018112301826477f,-0.03850877285003662f},
-{1.644424319267273f,-2.5381598472595215f,0.20290347933769226f,0.1980067789554596f,1.471023678779602f,-2.1708061695098877f,0.15389427542686462f,-2.2065587043762207f,0.02487196773290634f,0.29525136947631836f,-0.199305921792984f,2.06744122505188f,0.05854376032948494f,2.2172279357910156f,-0.38513508439064026f,0.0964607372879982f},
-{0.4307587146759033f,-0.07137462496757507f,-0.2331579178571701f,-0.47739383578300476f,-0.2818368971347809f,0.15633994340896606f,0.05604562163352966f,-0.38704362511634827f,0.33539512753486633f,-0.11658325046300888f,0.17028573155403137f,0.18952439725399017f,-0.3502298593521118f,0.5016257762908936f,-0.14554673433303833f,-0.06095710024237633f},
-{0.2596503794193268f,-0.17684665322303772f,-0.24806702136993408f,0.013383056037127972f,-0.3203287422657013f,-0.12515699863433838f,-0.16704979538917542f,-0.32831302285194397f,0.02144159935414791f,-0.06176607310771942f,0.12770892679691315f,-0.20642785727977753f,0.190772145986557f,0.179703027009964f,0.04009982943534851f,0.12100610136985779f},
-{0.35814568400382996f,0.4100647568702698f,0.09550115466117859f,-0.44757598638534546f,-0.1950407177209854f,0.04999299719929695f,-0.06753402948379517f,-0.4104048013687134f,-0.2547816038131714f,0.16654060781002045f,-0.24749194085597992f,0.2852245569229126f,0.0907367393374443f,0.21595926582813263f,-0.2847418785095215f,0.11371583491563797f},
-{0.05555231496691704f,-0.03271458297967911f,0.17205187678337097f,-0.22579312324523926f,0.08579326421022415f,0.1217007115483284f,-0.2786858379840851f,-0.11141631752252579f,-0.009758778847754002f,-0.5851277112960815f,0.0218422319740057f,-0.3402082622051239f,0.2554112672805786f,-0.31053653359413147f,0.3247623145580292f,-0.1253858208656311f},
-{0.25311827659606934f,0.5183544158935547f,0.34649983048439026f,0.12680210173130035f,-0.053463827818632126f,0.007579106837511063f,-0.1895401030778885f,0.1668766885995865f,-0.3999473452568054f,-0.10636711865663528f,0.35417813062667847f,-0.1813354194164276f,-0.12172401696443558f,-0.4551105499267578f,0.24870619177818298f,-0.48931506276130676f},
-{-0.6563053727149963f,0.19756083190441132f,-0.3757385015487671f,-0.12358571588993073f,0.07328306883573532f,-0.037238527089357376f,0.1429324448108673f,0.6130515933036804f,-0.14150480926036835f,0.07175843417644501f,-0.35645532608032227f,0.2613658010959625f,0.11327669769525528f,-0.7011776566505432f,0.09779238700866699f,-0.3066490888595581f},
-{0.2984195351600647f,0.11689455807209015f,0.18496140837669373f,0.07994478195905685f,0.10577218979597092f,0.250553160905838f,-0.22405625879764557f,0.3453320860862732f,-0.16153648495674133f,-0.2512969970703125f,-0.07162810117006302f,-0.4340240955352783f,-0.027155784890055656f,-0.14044378697872162f,-0.2075144499540329f,-0.5465872883796692f},
-{0.24738316237926483f,0.09875593334436417f,0.38466766476631165f,-0.16186121106147766f,-0.3649815320968628f,-0.24439507722854614f,-0.2982172966003418f,-0.22019244730472565f,-0.1118817925453186f,-0.2599189877510071f,-0.15160207450389862f,-0.3233533799648285f,-0.3545188307762146f,-0.058986421674489975f,0.04470124840736389f,-0.08361245691776276f},
-{0.5465022921562195f,0.11485406011343002f,0.18900898098945618f,-0.035653870552778244f,0.2251531481742859f,-0.23097997903823853f,0.03916636109352112f,0.21228940784931183f,0.2974494993686676f,0.04663419350981712f,-0.23016029596328735f,-0.5305768251419067f,0.07466139644384384f,0.058442287147045135f,0.062258750200271606f,-0.0009173364960588515f},
-{0.26026996970176697f,-0.2071150690317154f,-0.37685394287109375f,-0.19433262944221497f,-0.2608952820301056f,-0.0791645273566246f,-0.14507901668548584f,-0.06689245998859406f,0.20259590446949005f,-0.019133813679218292f,-0.4112180769443512f,-0.27296704053878784f,-0.24609698355197906f,0.12159792333841324f,-0.07684260606765747f,0.052433136850595474f},
-{0.1439766138792038f,-0.03434467315673828f,0.15568438172340393f,-0.035888563841581345f,-0.1411198377609253f,-0.28514769673347473f,-0.03859376907348633f,-0.03009875677525997f,-0.044177159667015076f,0.08119461685419083f,-0.29901522397994995f,0.050201985985040665f,0.129023477435112f,0.4306163787841797f,0.2742314636707306f,-0.09340307116508484f},
-{0.08491593599319458f,0.09569241106510162f,0.19490453600883484f,-0.2727678716182709f,-0.5214928388595581f,-0.17592529952526093f,-0.336474746465683f,0.011528522707521915f,-0.36485639214515686f,-0.09947196394205093f,-0.1245218887925148f,-0.004173045977950096f,0.2969566285610199f,0.025926120579242706f,-0.2561379373073578f,-0.14705012738704681f},
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+{-0.21371565759181976f,-0.8026935458183289f,0.2631795108318329f,-0.7004210948944092f,0.1280365288257599f,-0.4730685353279114f,0.27224990725517273f,0.006050639320164919f,-0.09381511807441711f,0.08090905845165253f,0.05304040387272835f,1.5589348077774048f,0.29210609197616577f,0.5046173930168152f,0.06011766195297241f,0.05217600241303444f},
 };
 
 const float h2[16][16] = { 
-    {-0.3052593767642975f,0.7765824198722839f,-0.06966331601142883f,0.06346946954727173f,-0.21907491981983185f,1.0206451416015625f,0.08824838697910309f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.561135172843933f,-0.35040342807769775f,-0.06817807257175446f,-1.8152068853378296f,-0.941753089427948f,1.3422269821166992f},
-{-0.15002086758613586f,-0.8550978899002075f,0.057057321071624756f,-0.22086668014526367f,-0.35503754019737244f,-1.0127449035644531f,-0.4888165593147278f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.3300682306289673f,-0.6021377444267273f,0.12875975668430328f,0.5818859338760376f,-0.06024700775742531f,-1.0811307430267334f},
+    {-0.2627347707748413f,1.6072235107421875f,-0.06966331601142883f,1.3059860467910767f,-0.21907491981983185f,-10.074268341064453f,-0.10165838152170181f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.889585018157959f,-0.4408711791038513f,0.09407905489206314f,-2.1551506519317627f,-1.681544303894043f,-8.785170555114746f},
+{-0.07196462154388428f,-0.46957844495773315f,0.057057321071624756f,-0.3067782521247864f,-0.35503754019737244f,-3.547255277633667f,-0.42634716629981995f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.7903809547424316f,-0.6991819143295288f,0.27004608511924744f,0.7093417644500732f,0.9480265378952026f,-2.6635963916778564f},
 {-0.22745239734649658f,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},
-{0.01863212138414383f,-0.3337986469268799f,-0.2894435524940491f,0.38655126094818115f,0.08946844935417175f,0.32297176122665405f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.23404084146022797f,0.3810727000236511f,-0.48963722586631775f,-0.19819985330104828f,0.21264146268367767f,0.13057638704776764f},
-{-0.31285977363586426f,0.5254696607589722f,-0.25313520431518555f,0.1522999256849289f,0.036378175020217896f,0.6299951672554016f,-0.387730211019516f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.7028692364692688f,-0.4719698131084442f,-0.10920900851488113f,-0.6607767343521118f,-0.6136030554771423f,-0.41861391067504883f},
-{0.21130001544952393f,-0.5510011911392212f,-0.3519742488861084f,0.005186192691326141f,-0.3015052080154419f,-3.134002208709717f,-0.4308614134788513f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.1488739550113678f,-0.2039378583431244f,-0.40369734168052673f,0.9097316861152649f,0.6725584864616394f,-1.1587285995483398f},
+{-0.006364033091813326f,-0.2805274426937103f,-0.2894435524940491f,0.22353897988796234f,0.08946844935417175f,0.3361161947250366f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.2456456422805786f,0.38107261061668396f,-0.4747326970100403f,-0.23024532198905945f,0.21823757886886597f,0.13803395628929138f},
+{-0.3554824888706207f,3.049980401992798f,-0.25313520431518555f,0.3931412994861603f,0.036378175020217896f,-2.617460012435913f,-0.5512491464614868f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.678700864315033f,-0.7182751297950745f,0.033540356904268265f,-0.06770995259284973f,-2.3080103397369385f,-1.9733433723449707f},
+{0.20959323644638062f,-1.3502219915390015f,-0.3519742488861084f,0.18502606451511383f,-0.3015052080154419f,-3.7923583984375f,-0.7683287262916565f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.8958200216293335f,-0.34072569012641907f,-0.27347302436828613f,0.9521313309669495f,1.0914380550384521f,-2.391331911087036f},
 {-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},
-{-0.1765946000814438f,-1.0339417457580566f,0.33083590865135193f,-0.819527268409729f,-0.14358049631118774f,-0.9539746642112732f,-0.22666585445404053f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,-0.3592086732387543f,-0.44579604268074036f,-0.3769204318523407f,1.2805591821670532f,0.5471216440200806f,-0.971291720867157f},
-{-0.2365376353263855f,0.318532258272171f,-0.11379697918891907f,0.09605291485786438f,0.041274964809417725f,-0.3829578459262848f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.03334576636552811f,-0.3197441101074219f,-0.37024784088134766f,-0.2677830159664154f,-0.3714716136455536f,-0.24253447353839874f},
-{-0.18313218653202057f,0.5718652606010437f,-0.13502129912376404f,0.2983894944190979f,0.12987366318702698f,0.5446907877922058f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.5811867713928223f,0.36860543489456177f,0.3811538517475128f,-0.6226065158843994f,-0.28333911299705505f,0.06599642336368561f},
-{-0.2709399461746216f,-0.02219727821648121f,0.0457797646522522f,-0.3816734254360199f,-0.03321319818496704f,-0.42472511529922485f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.22601032257080078f,0.3545852601528168f,-0.3647043704986572f,0.4363546073436737f,-0.3764916956424713f,-0.29988300800323486f},
-{0.03780045732855797f,0.2389167696237564f,0.3954955041408539f,0.14724940061569214f,0.0033026933670043945f,2.395582437515259f,-0.340645968914032f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.07925853133201599f,-0.3868732750415802f,-0.130569189786911f,-0.7517216801643372f,0.09055520594120026f,-0.3992140591144562f},
-{-0.4916437864303589f,-0.2651384472846985f,-0.15798500180244446f,0.31105610728263855f,-0.37393757700920105f,0.14718307554721832f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.2205181121826172f,-0.3137296438217163f,0.2122403383255005f,-0.0701589360833168f,-0.19465039670467377f,0.043557438999414444f},
-{-0.5959864854812622f,0.3259946405887604f,-0.2018718123435974f,0.28915268182754517f,0.07545611262321472f,-0.16025394201278687f,-0.26686808466911316f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.38453567028045654f,-0.4926404058933258f,-0.3746548593044281f,-0.9853651523590088f,-0.5918751358985901f,0.16668342053890228f},
+{0.09947510808706284f,0.35010796785354614f,0.33083590865135193f,-0.3367353081703186f,-0.14358049631118774f,-0.36243200302124023f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.31178247928619385f,-0.31911033391952515f,-0.41125836968421936f,0.2665112614631653f,0.01156060304492712f,0.12491219490766525f},
+{-0.2314327508211136f,0.4525166153907776f,-0.11379697918891907f,-0.09526991099119186f,0.041274964809417725f,-0.2055896818637848f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.10668562352657318f,-0.3197441101074219f,-0.37024784088134766f,-0.3530832827091217f,-0.4519219398498535f,-0.12629814445972443f},
+{-0.1665608137845993f,0.3012998402118683f,-0.13502129912376404f,0.054572269320487976f,0.12987366318702698f,0.20264874398708344f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.3255550265312195f,0.36860600113868713f,0.3811538517475128f,-0.324370801448822f,-0.07046277821063995f,-0.14053338766098022f},
+{-0.22478652000427246f,-0.01952047273516655f,0.0457797646522522f,-0.36477410793304443f,-0.03321319818496704f,-0.44883063435554504f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.22648464143276215f,0.3545852601528168f,-0.3647043704986572f,0.42692625522613525f,-0.38498252630233765f,-0.2930787205696106f},
+{0.1855839043855667f,-0.21992193162441254f,0.3954955041408539f,0.39627113938331604f,0.0033026933670043945f,-1.2386260032653809f,-0.293239563703537f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.059261854737997055f,-0.33992287516593933f,0.014869287610054016f,-0.669883668422699f,0.249106764793396f,-0.41038769483566284f},
+{-0.3410651385784149f,-0.24929744005203247f,-0.15798500180244446f,0.5034734606742859f,-0.37393757700920105f,0.23025217652320862f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.15765021741390228f,-0.3137330710887909f,0.3513602316379547f,-0.04629771038889885f,-0.24852626025676727f,0.07677663862705231f},
+{-0.45097577571868896f,-0.13339103758335114f,-0.2018718123435974f,0.06062299385666847f,0.07545611262321472f,1.9103381633758545f,-0.46714287996292114f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,1.649477243423462f,-0.6026387214660645f,-0.2412213385105133f,-1.874483585357666f,-0.12564484775066376f,-0.35405778884887695f},
 {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},
-{-0.42525333166122437f,0.20472994446754456f,0.12081471085548401f,-0.2670913338661194f,0.29976895451545715f,-0.19096340239048004f,-0.22564581036567688f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.23385308682918549f,-0.14616331458091736f,-0.2963029742240906f,0.15100456774234772f,0.141853928565979f,-0.12432993948459625f},
+{-0.43417003750801086f,0.2870778739452362f,0.12081471085548401f,-0.28882813453674316f,0.29976895451545715f,-0.129892036318779f,-0.112851083278656f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.28394222259521484f,-0.14616353809833527f,-0.2666535973548889f,0.17890380322933197f,0.34988918900489807f,0.09183908253908157f},
 };
 
 const float h3[16][16] = { 
-    {-0.36079341173171997f,-0.037796806544065475f,0.06318946927785873f,-0.4337630569934845f,-0.046596355736255646f,-0.10056696832180023f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.01327434554696083f,0.32257992029190063f,-0.31052157282829285f,0.15314404666423798f},
-{0.047732532024383545f,1.0453784465789795f,-0.9268192052841187f,-1.3970927000045776f,0.2515408992767334f,-0.5651271939277649f,-0.3198729455471039f,0.06247803568840027f,0.3076825439929962f,-0.3945154547691345f,0.4144817292690277f,-0.3128277659416199f,-0.2568195164203644f,-0.22904138267040253f,-0.29619118571281433f,-0.2936006188392639f},
+    {-0.36079341173171997f,-0.22157756984233856f,0.04996342584490776f,-0.37189048528671265f,-0.06003464758396149f,-0.08961917459964752f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.012323440052568913f,0.18081840872764587f,-0.30172455310821533f,0.13669900596141815f},
+{0.047732532024383545f,0.6989078521728516f,0.6557276844978333f,-1.027191162109375f,-0.7921809554100037f,0.10846979916095734f,-0.3198729455471039f,0.06247803568840027f,0.5821853280067444f,-0.5057151317596436f,0.11285559087991714f,-2.0360121726989746f,-1.6084725856781006f,-0.6113699674606323f,-0.5270559787750244f,-0.4096241891384125f},
 {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,-0.09274730086326599f,0.23436321318149567f,-0.43154609203338623f,-0.2910845875740051f,0.1733359545469284f,0.20021501183509827f,0.07002416253089905f,-0.2121538668870926f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.11789911985397339f,0.15578041970729828f,0.21494504809379578f,-0.026418790221214294f},
+{-0.30922991037368774f,0.2609212398529053f,-0.35918179154396057f,-0.49626997113227844f,-2.002046585083008f,0.23198626935482025f,0.20021501183509827f,0.07002416253089905f,-2.9994735717773438f,-0.6615407466888428f,-0.16319164633750916f,-0.4781607985496521f,-0.19987694919109344f,-0.03317837044596672f,0.2836754620075226f,-0.10154473036527634f},
 {-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,-0.20662908256053925f,-2.2171430587768555f,0.4006666839122772f,-2.283665418624878f,-0.9852012991905212f,-0.18732719123363495f,0.22384825348854065f,-0.7308322787284851f,-0.3613430857658386f,-0.08919548988342285f,0.07440454512834549f,-0.3236474096775055f,-2.7049267292022705f,0.46080514788627625f,-0.33965757489204407f},
-{0.4110594093799591f,0.18829195201396942f,-0.28964921832084656f,0.37246426939964294f,0.18596374988555908f,-0.14638680219650269f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.24770422279834747f,0.05191253125667572f,0.3126353323459625f,-0.3391006588935852f},
+{-0.37449589371681213f,1.4071166515350342f,0.07251398265361786f,-0.9862403869628906f,-0.453469455242157f,1.3401246070861816f,-0.18732719123363495f,0.22384825348854065f,1.1909663677215576f,-0.4245598614215851f,-0.24387189745903015f,-4.09767484664917f,-2.500598430633545f,0.9592363238334656f,0.290335088968277f,-0.3659419119358063f},
+{0.4110594093799591f,0.1429830938577652f,-0.0927792340517044f,0.37246426939964294f,0.1850888431072235f,-0.19440588355064392f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.21155259013175964f,0.09956309199333191f,0.3126353323459625f,-0.3391006588935852f},
 {-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,1.7292665243148804f,-0.31037208437919617f,-1.5221078395843506f,1.3421568870544434f,1.6365735530853271f,-0.08742031455039978f,0.05785742402076721f,-0.5318602323532104f,-0.5702285170555115f,0.1268840730190277f,-0.3680243194103241f,-0.21464969217777252f,1.0949714183807373f,0.43239548802375793f,0.30368688702583313f},
-{-0.408692330121994f,-0.05716104060411453f,0.0930914357304573f,-0.03940649330615997f,0.05710133910179138f,-0.2375245839357376f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.42342624068260193f,-0.38583824038505554f,-0.3349139094352722f,0.31519055366516113f},
-{-0.2991822361946106f,0.3113429844379425f,-0.028302859514951706f,-0.022895999252796173f,0.13283444941043854f,0.17744621634483337f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.06122126057744026f,-0.17676572501659393f,0.3391455411911011f,-0.16869547963142395f},
-{-0.2675279378890991f,-0.22211220860481262f,1.1439030170440674f,-0.484036386013031f,0.8753553032875061f,-0.9877870082855225f,-0.32875844836235046f,-0.31893211603164673f,-0.7903032898902893f,-0.8245096802711487f,-0.3685331642627716f,-0.494035929441452f,0.35235920548439026f,-3.0751383304595947f,0.29959845542907715f,0.16084237396717072f},
-{-0.015470266342163086f,-0.9907230734825134f,0.35884010791778564f,0.9484112858772278f,0.040170274674892426f,-0.3648538887500763f,0.05196094512939453f,-0.008358269929885864f,-0.47176721692085266f,-0.3928334414958954f,0.13179203867912292f,-0.11511552333831787f,0.42800819873809814f,0.1324259489774704f,-0.06002689152956009f,-0.4644589424133301f},
-{0.1863725483417511f,0.5639002323150635f,-1.9148942232131958f,-1.9074541330337524f,-0.23482058942317963f,0.21633437275886536f,0.04860696196556091f,0.17769548296928406f,-0.3528926372528076f,-0.12636518478393555f,-0.3929237127304077f,0.07927906513214111f,0.2110864371061325f,-0.5832923650741577f,-0.026214398443698883f,-0.16008035838603973f},
+{0.15459725260734558f,0.72439044713974f,-0.5466641187667847f,-0.7720921635627747f,-0.6371919512748718f,0.7213203310966492f,-0.08742031455039978f,0.05785742402076721f,-1.262664794921875f,-0.5998016595840454f,-0.17241103947162628f,-2.2987046241760254f,-3.9738259315490723f,-1.018069863319397f,0.1471223384141922f,0.12088090926408768f},
+{-0.408692330121994f,-0.01745096780359745f,0.09452779591083527f,0.06247909367084503f,0.015625588595867157f,-0.2146359384059906f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4221092760562897f,-0.379727303981781f,-0.3349076807498932f,0.31518054008483887f},
+{-0.2991822361946106f,0.29517999291419983f,0.0042093913070857525f,0.024277420714497566f,0.16840599477291107f,0.15824651718139648f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.09814348071813583f,-0.21696944534778595f,0.27826768159866333f,-0.16869547963142395f},
+{-0.2675279378890991f,-0.770762026309967f,1.6120538711547852f,-0.20645307004451752f,-0.15061108767986298f,-0.16551825404167175f,-0.32875844836235046f,-0.31893211603164673f,-1.4138376712799072f,-0.8004869818687439f,-0.3685331642627716f,-1.5057293176651f,0.1274058073759079f,-1.585729718208313f,0.1306980550289154f,0.1441774070262909f},
+{-0.015470266342163086f,-1.9857964515686035f,1.6790562868118286f,0.4655911922454834f,-0.08354365080595016f,-2.514406442642212f,0.05196094512939453f,-0.008358269929885864f,-4.3329997062683105f,-0.579310953617096f,0.13179203867912292f,-0.040511056780815125f,2.757723093032837f,-2.6764187812805176f,0.035064682364463806f,-0.5825209021568298f},
+{0.1863725483417511f,1.4100269079208374f,0.11397874355316162f,-0.8381223678588867f,0.6091724038124084f,0.9195526838302612f,0.04860696196556091f,0.17769548296928406f,0.4023902416229248f,-0.09889062494039536f,-0.5419447422027588f,0.34525805711746216f,-0.9069976806640625f,1.014098882675171f,-0.04629502072930336f,-0.16994908452033997f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.3756614625453949f,-0.3697648346424103f,-0.08151093125343323f,-0.5264179706573486f,0.5791542530059814f,0.0030125975608825684f,0.15066689252853394f,-0.04435929283499718f,-0.05321529507637024f,0.24303162097930908f,-0.041049774736166f,-0.21228361129760742f,0.8560773730278015f,0.40079009532928467f,-0.16921192407608032f };
+const float hout[16] = { 0.45773375034332275f,0.23122456669807434f,-0.18602921068668365f,-0.3125866651535034f,-0.029993798583745956f,0.20471511781215668f,0.0030125975608825684f,0.15066689252853394f,-0.5208629369735718f,0.004466731566935778f,0.08295199275016785f,-0.26822465658187866f,-0.3498326539993286f,0.026779841631650925f,0.07775511592626572f,-0.060560304671525955f };
 
-const float b1[16] = { 1.1685986518859863f,1.1527799367904663f,-1.7145336866378784f,0.2994007468223572f,0.9155184030532837f,0.9460800290107727f,-0.058932315558195114f,1.0734328031539917f,0.528002142906189f,-0.9993016719818115f,0.6054026484489441f,1.395154356956482f,-0.5292949080467224f,-0.8814961910247803f,-1.087764859199524f,0.9824402332305908f };
+const float b1[16] = { 1.3190714120864868f,1.5952208042144775f,-1.7145336866378784f,0.3097442090511322f,0.9651374220848083f,1.5615040063858032f,-0.058932315558195114f,0.8412410616874695f,0.534761905670166f,-0.8942662477493286f,0.5916527509689331f,3.810105562210083f,-0.45955052971839905f,-0.3557904064655304f,-1.087764859199524f,0.9899064898490906f };
 
-const float b2[16] = { -0.4115595817565918f,-0.9893220663070679f,-1.4564176797866821f,-0.6809304356575012f,-0.6939148902893066f,0.851951003074646f,0.2943524718284607f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.34689339995384216f,0.4671037793159485f,-0.29071569442749023f,1.8405826091766357f,0.031147237867116928f,0.7181730270385742f };
+const float b2[16] = { -0.2645142376422882f,-0.2895103693008423f,-1.4564176797866821f,-0.49256083369255066f,-0.6939148902893066f,0.8274815082550049f,0.09697892516851425f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.27735763788223267f,0.3822407126426697f,-0.14580224454402924f,1.841172695159912f,0.46085551381111145f,0.41733479499816895f };
 
-const float b3[16] = { -1.963319182395935f,-0.35128119587898254f,-0.738315761089325f,0.008791283704340458f,0.12798717617988586f,0.5596712231636047f,-0.45353031158447266f,-0.6562485098838806f,-0.024550003930926323f,0.033852044492959976f,-0.14371006190776825f,-0.07968594133853912f,-0.6261923909187317f,-0.08120972663164139f,-1.2201191186904907f,-0.45568379759788513f };
+const float b3[16] = { -1.963319182395935f,-0.4159342348575592f,0.1794152706861496f,-0.4108562469482422f,-0.21904510259628296f,0.0030512125231325626f,-0.45353031158447266f,-0.6562485098838806f,-0.5568499565124512f,0.06824243813753128f,-0.44575250148773193f,2.5458240509033203f,-3.0509939193725586f,-0.7597270607948303f,-1.5004441738128662f,-0.6097174286842346f };
 
-const float bout[1] = { -0.30194076895713806f };
+const float bout[1] = { -0.21177443861961365f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;
@@ -405,8 +405,8 @@
             input_NN[ind] = torq.sen / 10000.0f + 0.5f;
             ind = ind + 1;
             for(int i=0; i<numfuture_f; i++) {
-                input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
-//            input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
+//                input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
+                input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
                 ind = ind + 1;
             }