Diff: main.cpp

Revision:

195:dde3bb8e0d81

Parent:

194:b31951919b55

Child:

196:56a7e26a4a8a

--- a/main.cpp	Fri Dec 18 14:57:14 2020 +0000
+++ b/main.cpp	Fri Dec 18 15:54:11 2020 +0000
@@ -1,4 +1,4 @@
-//201218_4
+//201218_5
 #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] = {
-    {-1.7083642482757568f,-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},
+    {-1.5049792528152466f,1.3884327411651611f,0.12903714179992676f,0.891964316368103f,-2.0343658924102783f,2.1200127601623535f,-0.17472904920578003f,0.1945325881242752f,-0.6159688234329224f,-2.1421313285827637f,0.646172046661377f,-1.4796212911605835f,-1.6515940427780151f,-1.0867961645126343f,-0.2571594715118408f,-0.6423998475074768f},
+{-0.8074502348899841f,0.6986951231956482f,-0.3927857577800751f,0.10117524862289429f,-1.0908969640731812f,0.9588668346405029f,-0.4054011106491089f,0.027100883424282074f,-0.20849254727363586f,-0.7737641334533691f,-0.0007267668261192739f,-0.559249222278595f,-0.34011590480804443f,-0.9275782108306885f,-0.20967772603034973f,0.00843813456594944f},
+{-0.1761643886566162f,-0.00044299568980932236f,0.36391180753707886f,-0.6050712466239929f,0.10568452626466751f,0.08904145658016205f,0.2872133255004883f,-0.04633462801575661f,-0.18011713027954102f,0.3201780915260315f,-0.6315233707427979f,0.2315744310617447f,0.21526654064655304f,0.2692757546901703f,0.05590221285820007f,0.1846989542245865f},
+{0.3208276033401489f,-0.5977734327316284f,0.39742106199264526f,-0.13856913149356842f,0.6892843246459961f,-0.9602494835853577f,-0.11584559082984924f,-0.06512385606765747f,0.1462620198726654f,0.9997460842132568f,-0.4601175785064697f,1.0265581607818604f,0.409962922334671f,0.5716820359230042f,-0.2961459457874298f,0.6279282569885254f},
+{1.2834209203720093f,-0.7100825905799866f,-0.0051451027393341064f,-0.48592910170555115f,1.3144265413284302f,-1.2957475185394287f,0.1294034719467163f,-0.3098825216293335f,0.4540647268295288f,1.3852906227111816f,-0.3826965093612671f,1.0702041387557983f,0.8663880825042725f,0.983588457107544f,-0.3865056037902832f,0.2630000412464142f},
+{0.7572326064109802f,-0.704451322555542f,0.21773302555084229f,0.2423843890428543f,0.74943608045578f,-1.221998691558838f,0.16514194011688232f,0.40929198265075684f,0.4561389982700348f,0.43248844146728516f,0.2699551284313202f,-0.26172181963920593f,0.477117657661438f,0.22961737215518951f,-0.4132833778858185f,-0.5123910307884216f},
+{0.10581762343645096f,1.3901673555374146f,-0.2501986622810364f,-0.1542971432209015f,-0.35934504866600037f,0.5287187695503235f,0.06014183163642883f,-0.40914610028266907f,0.3122667670249939f,0.3267156779766083f,0.07723409682512283f,0.10168510675430298f,-0.9989253282546997f,2.5577051639556885f,-0.15618428587913513f,-0.9690904021263123f},
+{-2.7382125854492188f,0.4130338430404663f,-0.26619744300842285f,1.700432538986206f,-1.3281302452087402f,-1.8974241018295288f,-0.17925891280174255f,-0.9012918472290039f,-0.07043382525444031f,-0.48516932129859924f,2.527921438217163f,-1.9383374452590942f,0.09208452701568604f,0.08270622044801712f,0.04303058981895447f,-1.6846622228622437f},
+{1.0545861721038818f,-1.4685617685317993f,0.10248100757598877f,-0.7680048942565918f,0.7788065075874329f,-0.5541813373565674f,-0.07246989011764526f,-3.9993937015533447f,-1.7258435487747192f,1.5052671432495117f,-2.6104493141174316f,2.101834535598755f,1.8155968189239502f,1.0661120414733887f,-0.30555272102355957f,2.365203619003296f},
+{-0.8168604373931885f,2.0169551372528076f,0.18462657928466797f,-3.2892398834228516f,1.213491439819336f,0.017481716349720955f,-0.2990540862083435f,1.388200283050537f,3.561858892440796f,-0.5190175771713257f,-0.29394879937171936f,-2.029303550720215f,1.6247004270553589f,0.7122467160224915f,0.3484981060028076f,-2.1400225162506104f},
+{1.007614254951477f,-0.9092363715171814f,0.37182438373565674f,1.7689789533615112f,-0.4636596143245697f,0.44717833399772644f,-0.20339298248291016f,1.655295729637146f,-2.704533576965332f,0.4038698971271515f,1.1270475387573242f,-0.9903129935264587f,-0.006957195699214935f,0.191023051738739f,0.26688337326049805f,-0.8353675007820129f},
+{0.3204830288887024f,-0.3771741986274719f,-0.40320003032684326f,0.8849078416824341f,-0.39249494671821594f,-0.11090171337127686f,0.1533789038658142f,-0.33072859048843384f,0.2818801701068878f,0.6622859239578247f,0.36905643343925476f,-0.027050090953707695f,0.031340520828962326f,0.22625774145126343f,0.10493969917297363f,1.2014644145965576f},
+{-0.027245059609413147f,-0.12394643574953079f,0.19847965240478516f,0.049304619431495667f,0.21819953620433807f,0.5548239350318909f,-0.2404318004846573f,0.34036731719970703f,0.2525804936885834f,-0.22883126139640808f,-0.282358318567276f,0.26164373755455017f,0.054766684770584106f,-0.10002446919679642f,-0.22268100082874298f,0.2973868250846863f},
+{0.06438226252794266f,-0.07111430168151855f,0.4127817749977112f,-0.06975249946117401f,-0.26233044266700745f,-0.24256393313407898f,-0.32001304626464844f,-0.22010767459869385f,0.21593058109283447f,0.0920371562242508f,-0.02842799946665764f,0.06874515116214752f,0.13893914222717285f,0.04359567537903786f,0.0479682981967926f,0.15775953233242035f},
+{-0.1833210438489914f,0.18803685903549194f,0.20282304286956787f,0.1314825862646103f,0.10088987648487091f,0.17484170198440552f,0.04202890396118164f,0.11449118703603745f,0.14355172216892242f,-0.01671559177339077f,-0.07656802237033844f,0.04497041553258896f,-0.010590135119855404f,-0.04078643396496773f,0.0668090283870697f,-0.31613799929618835f},
+{0.03417176753282547f,-0.3786371052265167f,-0.40439701080322266f,-0.0856500118970871f,-0.07531658560037613f,-0.010137107223272324f,-0.15568238496780396f,-0.07548399269580841f,-0.09875830262899399f,-0.022417474538087845f,-0.19422344863414764f,0.024653606116771698f,-0.006860379129648209f,0.06817493587732315f,-0.08245879411697388f,-0.16006922721862793f},
+{-0.02824515290558338f,-0.056637030094861984f,0.16706281900405884f,0.02173255942761898f,-0.07349086552858353f,0.11741489917039871f,-0.041414469480514526f,-0.003831858281046152f,0.17465364933013916f,0.020348260179162025f,0.14337372779846191f,0.13839061558246613f,0.052412476390600204f,-0.013077993877232075f,0.29427415132522583f,0.19772164523601532f},
 };
 
 const float h2[16][16] = {
-    {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},
+    {-0.09101764857769012f,0.4054962396621704f,-0.06966331601142883f,0.9045584797859192f,-0.21907491981983185f,3.1151559352874756f,0.0655006542801857f,0.0446651317179203f,-0.43008196353912354f,-0.1415480375289917f,-0.7361615896224976f,-5.880949974060059f,-0.02717401273548603f,0.7095373868942261f,0.7991701364517212f,0.32784658670425415f},
+{0.4075763523578644f,-0.16204024851322174f,0.057057321071624756f,0.28799089789390564f,-0.35503754019737244f,-0.3077959418296814f,-0.667557954788208f,-0.3348168432712555f,-0.33757925033569336f,0.2895788848400116f,-0.10099255293607712f,0.3099772334098816f,0.17714782059192657f,0.2539375424385071f,-1.1278986930847168f,-0.3848106861114502f},
 {-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},
-{-0.6552329063415527f,-0.5718222856521606f,-0.2894435524940491f,-0.5079841613769531f,0.08946844935417175f,-4.105660915374756f,-0.46833527088165283f,0.2641298472881317f,0.26211628317832947f,0.2953031361103058f,2.969101905822754f,1.2770133018493652f,-0.5125404596328735f,2.347217559814453f,1.9680869579315186f,-0.4975593090057373f},
-{0.2024247944355011f,0.722917914390564f,-0.25313520431518555f,1.1699090003967285f,0.036378175020217896f,0.7215865850448608f,-0.38932323455810547f,-0.22802962362766266f,-0.024399548768997192f,-0.39465832710266113f,0.4061717391014099f,-1.7283275127410889f,-0.047698259353637695f,0.592915952205658f,-0.8277308344841003f,-0.16879820823669434f},
-{-1.3462021350860596f,-0.3149687349796295f,-0.3519742488861084f,0.5717698335647583f,-0.3015052080154419f,-2.073889970779419f,-0.8116636276245117f,-0.13270969688892365f,-0.23047015070915222f,0.3579089343547821f,-1.3835636377334595f,0.9355102181434631f,-0.3199501633644104f,-0.06824032217264175f,0.5207514762878418f,-0.9127680063247681f},
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-{-2.756251573562622f,-0.69954913854599f,0.33083590865135193f,-0.15728795528411865f,-0.14358049631118774f,0.35712817311286926f,-0.2757829427719116f,-0.32823872566223145f,0.2600560486316681f,-0.37898191809654236f,0.3066903054714203f,-0.23127834498882294f,-0.3441482484340668f,0.4460092782974243f,-2.52577543258667f,2.300333261489868f},
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 };
 
 const float h3[16][16] = {
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-{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},
+{0.15459725260734558f,1.2427574396133423f,0.193179652094841f,-0.7398805618286133f,-0.4817911982536316f,-0.0939035415649414f,-0.055489517748355865f,-0.13401247560977936f,1.5515689849853516f,-0.47839227318763733f,-0.03722834214568138f,-0.6830673217773438f,0.958594024181366f,-0.6970508098602295f,0.15626497566699982f,1.2517952919006348f},
+{-0.408692330121994f,-0.6441293358802795f,0.3579084873199463f,0.5667678117752075f,1.1648471355438232f,1.0393614768981934f,0.03285527229309082f,0.38763079047203064f,-0.6279672384262085f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,0.23974189162254333f,0.6196199059486389f,0.9762318730354309f,-0.3892173171043396f},
+{-0.2991822361946106f,-0.009154408238828182f,0.13385441899299622f,-0.05932474136352539f,0.32624977827072144f,-0.14997488260269165f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.37819206714630127f,-0.2522141933441162f,0.1280381679534912f,0.020418301224708557f},
+{-0.2675279378890991f,0.22752805054187775f,0.9918881058692932f,-0.3263375759124756f,-0.49688720703125f,-0.6219033002853394f,-0.5266007781028748f,-0.5405108332633972f,1.1606967449188232f,-0.6998274326324463f,-0.6930839419364929f,-0.783081591129303f,0.5205210447311401f,-0.2892443835735321f,-0.4750079810619354f,1.0206432342529297f},
+{-0.015470266342163086f,-1.648854374885559f,-0.2384277582168579f,-2.0957741737365723f,-1.6361477375030518f,0.43126505613327026f,0.05196094512939453f,-0.18505549430847168f,-2.268740653991699f,-0.5114141702651978f,-0.03054753504693508f,-0.11511552333831787f,-0.7582811713218689f,0.5420505404472351f,-0.5685442090034485f,-0.9316728711128235f},
+{0.1863725483417511f,0.7245519161224365f,0.3409687578678131f,-0.9061988592147827f,1.1212410926818848f,-0.5218710899353027f,0.04860696196556091f,0.12026743590831757f,-1.0126233100891113f,0.03679993748664856f,-0.3252358138561249f,0.10295852273702621f,0.978594183921814f,-0.625475287437439f,1.5447208881378174f,-0.03620874881744385f},
 };
 
-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 };
+const float hout[16] = { 0.45773375034332275f,0.17375539243221283f,-0.23764771223068237f,-0.09143640846014023f,-0.16163280606269836f,0.23837842047214508f,-0.05339581519365311f,-0.03423803672194481f,-0.15247350931167603f,0.0028862894978374243f,-0.025371452793478966f,0.005703639704734087f,-0.16284745931625366f,-0.11569779366254807f,0.14603784680366516f,-0.16416245698928833f };
+
+const float b1[16] = { 0.6616275310516357f,-0.13481281697750092f,-1.7145336866378784f,0.07440292090177536f,0.8951196074485779f,1.0816856622695923f,-0.058932315558195114f,1.3293917179107666f,0.020480668172240257f,-0.5892835259437561f,0.21089354157447815f,1.3534598350524902f,-1.2202963829040527f,-1.9916216135025024f,-1.087764859199524f,0.9760429859161377f };
+
+const float b2[16] = { -0.09380006790161133f,-1.064509630203247f,-1.4564176797866821f,0.2678755223751068f,-0.6939148902893066f,-0.12803801894187927f,0.10122966021299362f,-0.35512855648994446f,-1.20063054561615f,-1.912178635597229f,0.1515641063451767f,0.8412038087844849f,-0.415097177028656f,1.7469533681869507f,0.5643869042396545f,1.505944848060608f };
+
+const float b3[16] = { -1.963319182395935f,-0.021264158189296722f,-1.0536612272262573f,0.7838545441627502f,-0.9922052621841431f,1.3160772323608398f,-0.6213743686676025f,-0.8503386974334717f,-1.0721707344055176f,0.18971462547779083f,-0.4227040708065033f,-0.3531782329082489f,-1.2684650421142578f,-0.21604318916797638f,-0.9929291605949402f,-0.17358574271202087f };
+
+const float bout[1] = { -0.18828609585762024f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////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;
             }