![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
rainbow
Diff: main.cpp
- Revision:
- 164:0ca5f6b916bf
- Parent:
- 163:ba1290eb0341
- Child:
- 165:6b7d096c4ff2
diff -r ba1290eb0341 -r 0ca5f6b916bf main.cpp --- a/main.cpp Mon Oct 12 13:36:51 2020 +0000 +++ b/main.cpp Tue Oct 13 00:27:03 2020 +0000 @@ -1,4 +1,4 @@ -//201012-4 +//201013_1 #include "mbed.h" #include "FastPWM.h" #include "INIT_HW.h" @@ -193,72 +193,72 @@ float input_NN[num_input] = { 0.0f }; const float h1[num_input][16] = { - {-0.7782070636749268f,0.6491429805755615f,0.12903714179992676f,0.4701420068740845f,-1.1851774454116821f,0.936890721321106f,-0.17472904920578003f,0.7034250497817993f,-0.9987554550170898f,-0.6859566569328308f,-0.23918497562408447f,-0.47080671787261963f,-0.2573468089103699f,-0.383545845746994f,-0.2571594715118408f,-0.6034055352210999f}, -{-0.7758541107177734f,0.5786361694335938f,-0.3927857577800751f,0.08956815302371979f,-0.9368128180503845f,0.5480309128761292f,-0.4054011106491089f,0.38553035259246826f,-0.5686935186386108f,-0.2845592200756073f,-0.27596044540405273f,-0.322929710149765f,0.24264559149742126f,-0.7802993655204773f,-0.20967772603034973f,-0.23716892302036285f}, -{-0.7401633262634277f,0.46712183952331543f,0.36391180753707886f,-0.3321636915206909f,-0.3408280909061432f,0.47471240162849426f,0.2872133255004883f,0.3749244511127472f,-0.3514612019062042f,-0.14593198895454407f,-0.34979507327079773f,-0.20954687893390656f,0.004788324702531099f,-0.1702752262353897f,0.05590221285820007f,-0.39047178626060486f}, -{-0.47303804755210876f,0.02896730788052082f,0.39742106199264526f,0.2539563477039337f,0.1472349464893341f,-0.2430400550365448f,-0.11584559082984924f,0.3623321056365967f,0.1986670196056366f,0.2114676684141159f,0.09412087500095367f,0.4054425358772278f,-0.15688329935073853f,-0.04453570395708084f,-0.2961459457874298f,0.024065889418125153f}, -{0.4291183650493622f,-0.20706309378147125f,-0.0051451027393341064f,0.12066979706287384f,0.7229619026184082f,-0.46650439500808716f,0.1294034719467163f,-0.43005433678627014f,0.5799059271812439f,0.4568421244621277f,0.346163809299469f,0.27162712812423706f,-0.05989838391542435f,0.5070501565933228f,-0.3865056037902832f,-0.18474432826042175f}, -{1.40835440158844f,-1.5322299003601074f,0.21773302555084229f,0.049874428659677505f,1.6716647148132324f,-1.5617104768753052f,0.16514194011688232f,-1.3870646953582764f,0.8992400765419006f,1.2278813123703003f,-0.24927276372909546f,0.3564600944519043f,-0.25600966811180115f,1.372388482093811f,-0.4132833778858185f,-0.08806907385587692f}, -{-0.007646323647350073f,-0.03775127977132797f,-0.2501986622810364f,-0.5623117089271545f,-0.7681918740272522f,0.6864805817604065f,0.06014183163642883f,-0.5644404888153076f,2.0680627822875977f,0.15593670308589935f,0.1473282128572464f,3.31565523147583f,-0.16409292817115784f,0.5289204716682434f,-0.15618428587913513f,-0.6547040939331055f}, -{-0.15699079632759094f,-0.02587871067225933f,-0.26619744300842285f,-0.06334565579891205f,-0.4807869493961334f,-0.03524485230445862f,-0.17925891280174255f,-0.24511542916297913f,-0.10653954744338989f,-0.02843543514609337f,0.10170961171388626f,-0.03251127153635025f,0.3803463280200958f,-0.05020173266530037f,0.04303058981895447f,-0.06777117401361465f}, -{0.37593480944633484f,0.11946912854909897f,0.10248100757598877f,-0.6360602974891663f,-0.2469322681427002f,-0.06668904423713684f,-0.07246989011764526f,-0.739950954914093f,-0.6203954815864563f,0.6119033694267273f,-0.30078116059303284f,0.3835883140563965f,0.23859620094299316f,0.39798247814178467f,-0.30555272102355957f,0.10598413646221161f}, -{0.28934794664382935f,-0.6171976327896118f,0.18462657928466797f,-0.428294837474823f,0.07063954323530197f,-0.050270505249500275f,-0.2990540862083435f,-0.6104825139045715f,-0.5936463475227356f,-0.027555301785469055f,-0.011696022935211658f,-0.6103222370147705f,0.38236182928085327f,0.1061057299375534f,0.3484981060028076f,-0.011962189339101315f}, -{0.7035959362983704f,-0.21420879662036896f,0.37182438373565674f,-0.026284512132406235f,-0.13709737360477448f,-0.21489951014518738f,-0.20339298248291016f,-0.4323478043079376f,-1.100731372833252f,0.39214086532592773f,0.3449837267398834f,-0.6420271396636963f,-0.05592392757534981f,0.2410035878419876f,0.26688337326049805f,-0.3181474804878235f}, -{-0.18418659269809723f,-0.5891847610473633f,-0.40320003032684326f,-0.2352007031440735f,-0.08247513324022293f,-0.20805437862873077f,0.1533789038658142f,0.09852540493011475f,-0.7253431677818298f,0.47784486413002014f,-0.41759979724884033f,-0.30954381823539734f,0.15576402842998505f,0.1422012448310852f,0.10493969917297363f,-0.12203488498926163f}, -{0.04192999005317688f,-0.2903960347175598f,0.19847965240478516f,-0.027737237513065338f,0.11114147305488586f,0.05220293998718262f,-0.2404318004846573f,0.00512412516400218f,-0.43889668583869934f,0.017222512513399124f,-0.11239635199308395f,-0.637906014919281f,0.10340824723243713f,0.13779230415821075f,-0.22268100082874298f,-0.4974827170372009f}, -{-0.14186790585517883f,-0.10981883108615875f,0.4127817749977112f,-0.20819373428821564f,-0.4382835924625397f,-0.30185166001319885f,-0.32001304626464844f,-0.31909188628196716f,-0.06913595646619797f,-0.06903842836618423f,-0.19832663238048553f,-0.5162372589111328f,-0.30104967951774597f,0.03277161717414856f,0.0479682981967926f,-0.08052478730678558f}, -{0.06581345945596695f,0.0516885481774807f,0.20282304286956787f,-0.010844850912690163f,0.12983281910419464f,-0.13831575214862823f,0.04202890396118164f,0.3641358017921448f,0.5405370593070984f,0.1525001972913742f,-0.2827072739601135f,-0.8250942826271057f,0.11547433584928513f,-0.031266048550605774f,0.0668090283870697f,-0.029975183308124542f}, -{-0.22052569687366486f,-0.30482664704322815f,-0.40439701080322266f,-0.15118825435638428f,-0.346107542514801f,-0.02491016499698162f,-0.15568238496780396f,0.1718081682920456f,0.5679032206535339f,0.027298452332615852f,-0.4771260619163513f,-0.9331557154655457f,-0.25903719663619995f,0.0014522698475047946f,-0.08245879411697388f,0.08631396293640137f}, -{-0.1600492298603058f,-0.3318108022212982f,0.16706281900405884f,0.01360999420285225f,-0.06460311263799667f,-0.4795653223991394f,-0.041414469480514526f,0.17084524035453796f,0.6028988361358643f,0.2521352767944336f,-0.3568115830421448f,-1.1606674194335938f,0.12424659729003906f,0.5091745257377625f,0.29427415132522583f,0.09482437372207642f}, + {-1.0275468826293945f,0.43926846981048584f,0.12903714179992676f,0.4701420068740845f,-2.603170871734619f,1.2352787256240845f,-0.17472904920578003f,1.33931565284729f,-2.285667896270752f,-0.5370298624038696f,-0.23918497562408447f,-2.2970659732818604f,-0.2573468089103699f,-0.5015426278114319f,-0.2571594715118408f,-0.6034055352210999f}, +{-1.3271386623382568f,0.7508835196495056f,-0.3927857577800751f,0.08956815302371979f,-2.090951919555664f,0.9666983485221863f,-0.4054011106491089f,1.063048005104065f,-1.6541582345962524f,-0.48293083906173706f,-0.27596044540405273f,-1.391426920890808f,0.24264559149742126f,-1.244568109512329f,-0.20967772603034973f,-0.23716892302036285f}, +{-1.494210124015808f,1.0132709741592407f,0.36391180753707886f,-0.3321636915206909f,-0.8958159685134888f,0.8947067260742188f,0.2872133255004883f,0.9576818346977234f,-0.9146316647529602f,-0.6344779133796692f,-0.34979507327079773f,-0.041588954627513885f,0.004788324702531099f,-0.9077112674713135f,0.05590221285820007f,-0.39047178626060486f}, +{-1.1651805639266968f,0.7061567306518555f,0.39742106199264526f,0.2539563477039337f,0.4142424762248993f,-0.05515221878886223f,-0.11584559082984924f,0.5919270515441895f,0.42622724175453186f,-0.2891632318496704f,0.09412087500095367f,1.729524850845337f,-0.15688329935073853f,-0.7519926428794861f,-0.2961459457874298f,0.024065889418125153f}, +{0.3275541663169861f,-0.05314060300588608f,-0.0051451027393341064f,0.12066979706287384f,1.7848690748214722f,-0.9574601054191589f,0.1294034719467163f,-0.9079204797744751f,1.644172191619873f,0.5305442214012146f,0.346163809299469f,1.850731372833252f,-0.05989838391542435f,0.44069361686706543f,-0.3865056037902832f,-0.18474432826042175f}, +{2.7969915866851807f,-2.863101005554199f,0.21773302555084229f,0.049874428659677505f,3.3449485301971436f,-3.4902470111846924f,0.16514194011688232f,-3.0111351013183594f,2.780473232269287f,2.8713512420654297f,-0.24927276372909546f,0.20904545485973358f,-0.25600966811180115f,2.930981159210205f,-0.4132833778858185f,-0.08806907385587692f}, +{0.14507338404655457f,-0.5466347336769104f,-0.2501986622810364f,-0.5623117089271545f,-0.5842210650444031f,1.0813305377960205f,0.06014183163642883f,-1.3890793323516846f,2.218482255935669f,0.2701410949230194f,0.1473282128572464f,8.030181884765625f,-0.16409292817115784f,1.363054633140564f,-0.15618428587913513f,-0.6547040939331055f}, +{-0.11376137286424637f,1.2962981462478638f,-0.26619744300842285f,-0.06334565579891205f,-0.017967332154512405f,0.7402953505516052f,-0.17925891280174255f,-0.23620754480361938f,-0.2303733229637146f,-0.7972359657287598f,0.10170961171388626f,0.976137638092041f,0.3803463280200958f,-0.6404311656951904f,0.04303058981895447f,-0.06777117401361465f}, +{0.9393667578697205f,0.409086674451828f,0.10248100757598877f,-0.6360602974891663f,-1.0584872961044312f,0.2865455448627472f,-0.07246989011764526f,-2.0908052921295166f,-2.1102006435394287f,0.9164959788322449f,-0.30078116059303284f,0.42822709679603577f,0.23859620094299316f,0.7837392091751099f,-0.30555272102355957f,0.10598413646221161f}, +{1.0390055179595947f,-0.8668026924133301f,0.18462657928466797f,-0.428294837474823f,-0.8970474004745483f,-0.07641282677650452f,-0.2990540862083435f,-1.8826488256454468f,-2.345081329345703f,0.6931765079498291f,-0.011696022935211658f,-1.3164994716644287f,0.38236182928085327f,0.730857789516449f,0.3484981060028076f,-0.011962189339101315f}, +{1.078703761100769f,-0.5194668173789978f,0.37182438373565674f,-0.026284512132406235f,-0.761788010597229f,-0.18165868520736694f,-0.20339298248291016f,-0.8829987049102783f,-2.1725661754608154f,0.7504070997238159f,0.3449837267398834f,-1.6039979457855225f,-0.05592392757534981f,0.45092856884002686f,0.26688337326049805f,-0.3181474804878235f}, +{-0.04786307364702225f,-0.9070568084716797f,-0.40320003032684326f,-0.2352007031440735f,-0.35294854640960693f,-0.17899975180625916f,0.1533789038658142f,0.354852557182312f,-0.7717488408088684f,0.6529988646507263f,-0.41759979724884033f,-1.1563547849655151f,0.15576402842998505f,0.1488793045282364f,0.10493969917297363f,-0.12203488498926163f}, +{0.05014846846461296f,-0.6795409321784973f,0.19847965240478516f,-0.027737237513065338f,-0.013307452201843262f,0.06092172488570213f,-0.2404318004846573f,0.4463799297809601f,0.09056004881858826f,0.17183999717235565f,-0.11239635199308395f,-1.1443365812301636f,0.10340824723243713f,0.16669702529907227f,-0.22268100082874298f,-0.4974827170372009f}, +{-0.18141792714595795f,-0.47597724199295044f,0.4127817749977112f,-0.20819373428821564f,-0.22629863023757935f,-0.4093320071697235f,-0.32001304626464844f,0.07264313846826553f,0.6717984080314636f,0.1116267517209053f,-0.19832663238048553f,-0.5138412117958069f,-0.30104967951774597f,0.1419636607170105f,0.0479682981967926f,-0.08052478730678558f}, +{-0.2207275629043579f,-0.1097341999411583f,0.20282304286956787f,-0.010844850912690163f,0.18393385410308838f,-0.09950534999370575f,0.04202890396118164f,0.43479958176612854f,1.1739306449890137f,0.1972566395998001f,-0.2827072739601135f,-0.2816276252269745f,0.11547433584928513f,0.05087324231863022f,0.0668090283870697f,-0.029975183308124542f}, +{-0.6290490627288818f,-0.5199962258338928f,-0.40439701080322266f,-0.15118825435638428f,-0.10213200747966766f,-0.06145118921995163f,-0.15568238496780396f,0.1703380048274994f,1.3332034349441528f,-0.012665068730711937f,-0.4771260619163513f,-0.37389233708381653f,-0.25903719663619995f,0.06176193431019783f,-0.08245879411697388f,0.08631396293640137f}, +{-0.7891360521316528f,-1.1776630878448486f,0.16706281900405884f,0.01360999420285225f,-0.06793910264968872f,-0.5176859498023987f,-0.041414469480514526f,0.5002788305282593f,2.1204869747161865f,0.10216822475194931f,-0.3568115830421448f,-1.6918138265609741f,0.12424659729003906f,0.6265965104103088f,0.29427415132522583f,0.09482437372207642f}, }; const float h2[16][16] = { - {-0.8240676522254944f,0.418407678604126f,-0.06966331601142883f,0.8915560245513916f,-0.21907491981983185f,0.9427316784858704f,0.01081257127225399f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.1416629552841187f,-0.5092085003852844f,-0.021806523203849792f,-1.2623779773712158f,-0.3406977355480194f,-0.5580283999443054f}, -{1.247713565826416f,-1.0203375816345215f,0.057057321071624756f,-0.2963460683822632f,-0.35503754019737244f,-0.05269136279821396f,-0.5763883590698242f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.2604035139083862f,-1.35958993434906f,0.20752204954624176f,0.3948659300804138f,0.421718955039978f,-0.795404314994812f}, + {-1.6326528787612915f,-0.20672893524169922f,-0.06966331601142883f,1.2765157222747803f,-0.21907491981983185f,1.666675329208374f,0.01081257127225399f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.6372236013412476f,-0.5548837780952454f,-0.32044893503189087f,-1.725007176399231f,2.0033929347991943f,-0.5580283999443054f}, +{1.921709656715393f,-1.1422375440597534f,0.057057321071624756f,-1.0021346807479858f,-0.35503754019737244f,2.0659966468811035f,-0.5763883590698242f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.644859790802002f,-1.3685475587844849f,0.18744133412837982f,2.2031455039978027f,0.15429285168647766f,-0.795404314994812f}, {-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}, 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{0.1863725483417511f,0.3109317123889923f,-0.12470856308937073f,-0.44225093722343445f,0.34884071350097656f,0.1748960316181183f,0.04860696196556091f,0.17769548296928406f,-0.04527851566672325f,0.3378079831600189f,-0.49009230732917786f,0.19592127203941345f,0.38452163338661194f,0.1770392656326294f,-0.05779607966542244f,-0.061975784599781036f}, }; -const float hout[16] = { 0.45773375034332275f,0.35016676783561707f,-0.14366678893566132f,-0.051637958735227585f,-0.5469676852226257f,0.44448554515838623f,0.0030125975608825684f,0.15066689252853394f,-0.15143240988254547f,-0.01384822092950344f,0.1270807832479477f,-0.123662568628788f,-0.300317645072937f,-0.7729120254516602f,0.28826022148132324f,-0.28641241788864136f }; +const float hout[16] = { 0.45773375034332275f,0.1895303577184677f,0.04147753864526749f,-0.051637958735227585f,-0.2525380849838257f,0.20449551939964294f,-0.09849799424409866f,0.021462121978402138f,0.026230910792946815f,-0.014191311784088612f,0.032114457339048386f,0.02098562940955162f,-0.16564421355724335f,-0.18251071870326996f,0.28826022148132324f,-0.15119028091430664f }; -const float b1[16] = { 0.6041062474250793f,1.2316960096359253f,-1.7145336866378784f,0.29340583086013794f,1.1885665655136108f,0.8268938660621643f,-0.058932315558195114f,1.111470341682434f,0.2895921468734741f,-1.0517315864562988f,0.5686121582984924f,1.0510215759277344f,-0.36297622323036194f,-1.022769808769226f,-1.087764859199524f,0.7172530889511108f }; +const float b1[16] = { 1.190064787864685f,2.114572525024414f,-1.7145336866378784f,0.29340583086013794f,2.1843721866607666f,1.146247148513794f,-0.058932315558195114f,2.322197914123535f,0.063370481133461f,-1.6794458627700806f,0.5686121582984924f,-0.6303002834320068f,-0.36297622323036194f,-1.6388936042785645f,-1.087764859199524f,0.7172530889511108f }; -const float b2[16] = { 0.2761356830596924f,-0.7251531481742859f,-1.4564176797866821f,-0.17254522442817688f,-0.6939148902893066f,0.11132903397083282f,0.1587718278169632f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.01902586594223976f,0.6691503524780273f,-0.21192844212055206f,1.7906622886657715f,0.3284146785736084f,0.520842969417572f }; +const float b2[16] = { 0.842756450176239f,-1.0624419450759888f,-1.4564176797866821f,0.12403412908315659f,-0.6939148902893066f,-0.5006171464920044f,0.1587718278169632f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.7691335678100586f,1.0488225221633911f,-0.29241377115249634f,1.8845067024230957f,-0.6308862566947937f,0.520842969417572f }; -const float b3[16] = { -1.963319182395935f,-0.2109249085187912f,0.14070700109004974f,-0.24310991168022156f,0.008521673269569874f,0.6228616833686829f,-0.45353031158447266f,-0.6562485098838806f,0.4408775269985199f,0.42920032143592834f,-0.23806928098201752f,-0.04586884006857872f,-0.3591490685939789f,0.9627102613449097f,-1.3424131870269775f,-0.26385825872421265f }; +const float b3[16] = { -1.963319182395935f,0.9528792500495911f,-0.22007086873054504f,-0.24310991168022156f,-0.931567907333374f,0.32041361927986145f,-0.5152284502983093f,-0.8134126663208008f,0.10645922273397446f,0.19873133301734924f,-0.38279810547828674f,-0.351564884185791f,-0.3853115141391754f,2.0537312030792236f,-1.3424131870269775f,-0.11876320093870163f }; -const float bout[1] = { -0.29828333854675293f }; +const float bout[1] = { -0.07777782529592514f }; float VALVE_POS_RAW_NN = 0.0f;