Diff: main.cpp

Revision:

194:b31951919b55

Parent:

193:4b5e617b8481

Child:

195:dde3bb8e0d81

diff -r 4b5e617b8481 -r b31951919b55 main.cpp
--- a/main.cpp	Fri Dec 18 13:29:04 2020 +0000
+++ b/main.cpp	Fri Dec 18 14:57:14 2020 +0000
@@ -1,4 +1,4 @@
-//201218_3
+//201218_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] = {
-    {-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},
+    {-1.7083642482757568f,-1.5779472589492798f,0.12903714179992676f,1.0634089708328247f,-2.158130645751953f,1.8104257583618164f,-0.2791702151298523f,-1.3234320878982544f,-0.0887109562754631f,-0.0838925912976265f,1.1776814460754395f,-1.0906319618225098f,-1.6356991529464722f,0.8737804293632507f,-0.2571594715118408f,1.425679326057434f},
+{-0.9315828084945679f,-0.48247814178466797f,-0.3927857577800751f,0.17988276481628418f,-1.191731333732605f,0.7561285495758057f,-0.5099403262138367f,-0.662891149520874f,0.12627223134040833f,0.15958870947360992f,0.3515961170196533f,-0.5163799524307251f,-0.44114604592323303f,0.36607253551483154f,-0.20967772603034973f,0.8521794676780701f},
+{-0.1401415467262268f,0.536644697189331f,0.36391180753707886f,-0.7396069765090942f,0.11177525669336319f,-0.02057299017906189f,0.1825331747531891f,0.22812804579734802f,-0.010339191183447838f,0.1558271050453186f,-0.5210474729537964f,0.07377694547176361f,0.06569085270166397f,0.887859582901001f,0.05590221285820007f,-0.18145160377025604f},
+{0.38947466015815735f,0.7902688980102539f,0.39742106199264526f,-0.4251823127269745f,0.7582203149795532f,-1.0087244510650635f,-0.22064009308815002f,0.7555295825004578f,0.11820007860660553f,0.2843056321144104f,-0.5753829479217529f,1.045906662940979f,0.3827585279941559f,0.8180925250053406f,-0.2961459457874298f,-0.09202978014945984f},
+{1.3200106620788574f,1.5207263231277466f,-0.0051451027393341064f,-0.6152558922767639f,1.3816864490509033f,-1.1872690916061401f,0.02445490099489689f,0.7481051087379456f,-0.013146400451660156f,0.09270843863487244f,-0.551243245601654f,0.9207057356834412f,0.9870776534080505f,0.9731601476669312f,-0.3865056037902832f,-0.8911765217781067f},
+{0.8773026466369629f,0.3782320022583008f,0.21773302555084229f,0.5241668820381165f,0.9724035859107971f,-0.6143779158592224f,0.05976053699851036f,0.24705880880355835f,-0.18107903003692627f,0.09867625683546066f,0.047598328441381454f,-0.5906416773796082f,0.5385941863059998f,1.0806857347488403f,-0.4132833778858185f,-1.1088954210281372f},
+{-1.2860573530197144f,-0.6182106733322144f,-0.2501986622810364f,-0.5696930289268494f,-1.1798095703125f,1.4417859315872192f,0.12410038709640503f,-2.725430488586426f,-1.1789278984069824f,0.19527918100357056f,0.19210797548294067f,0.31124386191368103f,-0.0372321717441082f,-0.9033676981925964f,-0.15618428587913513f,1.0094393491744995f},
+{-0.29186612367630005f,-1.0328090190887451f,-0.26619744300842285f,2.828730821609497f,-0.7062080502510071f,-0.24073761701583862f,-0.0939173549413681f,-1.0630011558532715f,0.7385551333427429f,0.12280473113059998f,0.3134021759033203f,-0.43344244360923767f,-0.44993478059768677f,0.3174239695072174f,0.04303058981895447f,-0.6784780621528625f},
+{1.59835946559906f,0.8740957379341125f,0.10248100757598877f,-2.73453688621521f,0.84181147813797f,-1.7514652013778687f,0.016528913751244545f,0.6764845848083496f,1.0502597093582153f,0.23555311560630798f,-2.7298104763031006f,3.2437171936035156f,-0.14212673902511597f,0.639388918876648f,-0.30555272102355957f,0.5875364542007446f},
+{-0.3848714232444763f,-0.03209398686885834f,0.18462657928466797f,0.1937711536884308f,0.6714569926261902f,0.3907460570335388f,-0.18479645252227783f,0.25423818826675415f,-4.370779991149902f,-0.470211923122406f,-1.026403546333313f,-2.6428158283233643f,2.8721742630004883f,-0.49147212505340576f,0.3484981060028076f,-2.299736976623535f},
+{0.434806764125824f,0.036423489451408386f,0.37182438373565674f,0.3337114155292511f,-0.02593325637280941f,-0.037050120532512665f,-0.0787377655506134f,0.10178950428962708f,2.9032366275787354f,0.11380341649055481f,0.48807212710380554f,-0.9232026934623718f,-1.8773866891860962f,-0.7698294520378113f,0.26688337326049805f,-0.9757272005081177f},
+{-0.631863534450531f,-0.51824551820755f,-0.40320003032684326f,0.16272775828838348f,0.3224349319934845f,-0.18526290357112885f,0.2721494436264038f,0.08035759627819061f,0.856447160243988f,0.2537602186203003f,-0.16383951902389526f,0.3714016079902649f,-0.24798749387264252f,-0.04087410122156143f,0.10493969917297363f,-0.23319652676582336f},
+{0.2278023362159729f,-0.05988635495305061f,0.19847965240478516f,-0.16288118064403534f,-0.07869156450033188f,0.31784969568252563f,-0.1270318329334259f,0.12723957002162933f,-0.12677061557769775f,-0.18985214829444885f,0.15085221827030182f,-0.0098095228895545f,-0.04912818968296051f,0.10715558379888535f,-0.22268100082874298f,-0.19564121961593628f},
+{-0.24136283993721008f,0.09043258428573608f,0.4127817749977112f,0.03742930293083191f,-0.09521298110485077f,-0.19498518109321594f,-0.2119545042514801f,-0.0026207196060568094f,-0.1323820948600769f,-0.27188432216644287f,-0.08169961720705032f,0.11178156733512878f,0.14862361550331116f,0.12379594892263412f,0.0479682981967926f,0.021596327424049377f},
+{0.12955604493618011f,-0.025349684059619904f,0.20282304286956787f,0.06336504220962524f,0.044888079166412354f,0.10501701384782791f,0.14649520814418793f,0.03327454626560211f,-0.11236454546451569f,0.07060986757278442f,0.09670546650886536f,0.000719104427844286f,-0.023936094716191292f,0.16088245809078217f,0.0668090283870697f,0.0534098744392395f},
+{0.08626224100589752f,0.17451998591423035f,-0.40439701080322266f,-0.11646418273448944f,-0.02201484702527523f,0.08347446471452713f,-0.07882561534643173f,-0.038883574306964874f,0.06304114311933517f,-0.05464116111397743f,-0.11908343434333801f,0.0135712381452322f,0.005938603542745113f,-0.00034736760426312685f,-0.08245879411697388f,-0.09743814170360565f},
+{-0.06705047190189362f,-0.2771543562412262f,0.16706281900405884f,-0.016586488112807274f,-0.0822872743010521f,-0.07644876837730408f,0.036811769008636475f,0.05269763618707657f,0.001398782478645444f,0.06734776496887207f,0.05126605182886124f,-0.018521256744861603f,-0.01790337823331356f,-0.36203619837760925f,0.29427415132522583f,-0.04341334477066994f},
 };
 
 const float h2[16][16] = {
-    {-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},
+    {0.5691848397254944f,0.4728170931339264f,-0.06966331601142883f,-0.39116427302360535f,-0.21907491981983185f,0.41213688254356384f,0.146681010723114f,-0.022342750802636147f,-0.43008196353912354f,-0.1415480375289917f,0.43119117617607117f,-0.3641720414161682f,0.006088627967983484f,-0.1827574521303177f,-0.3519345819950104f,0.19674095511436462f},
+{1.2881673574447632f,0.15647029876708984f,0.057057321071624756f,0.3154185116291046f,-0.35503754019737244f,-0.18368716537952423f,-0.4701302647590637f,-0.4165448248386383f,-0.33757925033569336f,0.2895788848400116f,-0.05714080482721329f,-0.1503470540046692f,0.13544173538684845f,-0.1624496430158615f,-0.20547306537628174f,-0.08609229326248169f},
 {-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},
-{0.39014673233032227f,-0.39607951045036316f,-0.2894435524940491f,0.41481518745422363f,0.08946844935417175f,-0.22121116518974304f,-0.40275976061820984f,0.2650929391384125f,0.26211628317832947f,0.2953031361103058f,0.8374318480491638f,0.1486164778470993f,0.3700002133846283f,0.7084981799125671f,-0.2438845932483673f,0.17641611397266388f},
-{-0.6145792603492737f,1.4241276979446411f,-0.38599735498428345f,1.0056519508361816f,-0.130391925573349f,-0.5785019993782043f,-0.8334283828735352f,-0.2552958130836487f,-0.024399548768997192f,-0.4501388370990753f,-10.357773780822754f,-5.493231773376465f,-2.6973838806152344f,-1.543803095817566f,-0.31024715304374695f,-2.4421327114105225f},
-{-0.4475497901439667f,-0.48771294951438904f,-0.4826374053955078f,-0.7084127068519592f,-0.3307701051235199f,-0.23040759563446045f,-0.5431229472160339f,-0.053084585815668106f,-0.23047015070915222f,0.3046051263809204f,-2.272104501724243f,-6.695068359375f,-0.1596900373697281f,-0.07568152248859406f,-0.6455795168876648f,-1.9376535415649414f},
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-{0.002462406875565648f,-0.13203328847885132f,0.1748848259449005f,0.062082864344120026f,-0.24962033331394196f,0.3382720649242401f,0.22629152238368988f,-0.4360564351081848f,0.2600560486316681f,-0.37898191809654236f,-1.594963788986206f,-1.8958890438079834f,-1.448304533958435f,0.798218309879303f,0.4798305332660675f,-0.17965641617774963f},
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 };
 
 const float h3[16][16] = {
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-{-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},
+{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
+{0.15459725260734558f,0.12674163281917572f,-1.8066343069076538f,-2.6454362869262695f,-1.513123869895935f,-0.5654615163803101f,-0.1915251612663269f,-0.11633022129535675f,-0.42871835827827454f,-0.7320024967193604f,-0.10651703178882599f,-0.5063539147377014f,0.570899486541748f,-1.132482886314392f,0.08703529089689255f,-0.8601266741752625f},
+{-0.408692330121994f,-0.7229992151260376f,-0.039684589952230453f,0.11586404591798782f,0.25347626209259033f,-0.8820428252220154f,0.03285527229309082f,0.11867466568946838f,-0.9052098989486694f,-0.18457254767417908f,-0.13421255350112915f,-0.18340253829956055f,0.7221199870109558f,-4.207089900970459f,-1.194562554359436f,0.36525866389274597f},
+{-0.2991822361946106f,0.06960268318653107f,0.11643370240926743f,-0.05932474136352539f,0.195803701877594f,0.011859854683279991f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.09506481885910034f,-0.33226537704467773f,0.17675574123859406f,-0.16869547963142395f},
+{-0.2675279378890991f,0.6185293197631836f,-0.7997661232948303f,-0.002321854932233691f,0.5489782094955444f,-0.16728298366069794f,-0.32875844836235046f,-0.3670485019683838f,-0.5652082562446594f,-0.5957675576210022f,-0.6233183741569519f,-0.6195744276046753f,0.06166502833366394f,-0.8253225684165955f,0.8085088729858398f,1.0078809261322021f},
+{-0.015470266342163086f,-1.1152323484420776f,1.289136290550232f,1.5548841953277588f,1.030885100364685f,-0.2064899057149887f,0.05196094512939453f,-0.18992282450199127f,-0.3871394097805023f,-0.08023347705602646f,0.13179203867912292f,-0.17966221272945404f,-1.868313193321228f,-0.05276065692305565f,-0.22239743173122406f,0.4160137176513672f},
+{0.1863725483417511f,0.3686935305595398f,1.027355432510376f,1.7994378805160522f,-0.21010075509548187f,0.028893157839775085f,0.04860696196556091f,-0.0032099848613142967f,-0.21743838489055634f,-0.4624715745449066f,-0.5036341547966003f,0.022997958585619926f,0.8077424168586731f,0.8828359246253967f,0.12701526284217834f,-2.024989128112793f},
 };
 
-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 };
+const float hout[16] = { 0.45773375034332275f,0.18331462144851685f,-0.21714521944522858f,-0.2464197874069214f,-0.218314990401268f,-0.11458878219127655f,-0.15254844725131989f,0.09362415969371796f,-0.07397104799747467f,0.16479983925819397f,0.02780149318277836f,-0.03927014395594597f,-0.12863878905773163f,0.12879210710525513f,0.13688769936561584f,-0.1818998157978058f };
+
+const float b1[16] = { 0.4524996280670166f,0.21070164442062378f,-1.7145336866378784f,0.038984112441539764f,0.8108083605766296f,0.6599445939064026f,-0.1643390953540802f,1.3600108623504639f,0.13093411922454834f,-0.9038287997245789f,1.5731068849563599f,0.5593810081481934f,0.0018558003939688206f,-3.738471031188965f,-1.087764859199524f,1.568811297416687f };
+
+const float b2[16] = { 0.303576797246933f,-1.1598354578018188f,-1.4564176797866821f,0.18654601275920868f,-0.6939148902893066f,0.042610399425029755f,0.10687939822673798f,-0.4624027609825134f,-1.20063054561615f,-1.912178635597229f,0.03409488871693611f,0.8649703860282898f,-0.26801833510398865f,1.4368915557861328f,0.828235924243927f,0.4541163444519043f };
+
+const float b3[16] = { -1.963319182395935f,0.27306583523750305f,-0.9910871386528015f,-1.3165843486785889f,-0.2348240613937378f,0.41704362630844116f,-0.5419198274612427f,-1.0684020519256592f,-0.06659629195928574f,1.1529104709625244f,-0.3814184367656708f,-0.3054531216621399f,0.09647438675165176f,0.0942201167345047f,-0.4343146085739136f,-0.8535979986190796f };
+
+const float bout[1] = { -0.11359032988548279f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////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+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;
             }