Diff: main.cpp

Revision:

193:4b5e617b8481

Parent:

192:637092202815

Child:

194:b31951919b55

diff -r 637092202815 -r 4b5e617b8481 main.cpp
--- a/main.cpp	Fri Dec 18 05:44:16 2020 +0000
+++ b/main.cpp	Fri Dec 18 13:29:04 2020 +0000
@@ -1,4 +1,4 @@
-//201218_2
+//201218_3
 #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] = {
-    {-1.6065647602081299f,1.4442633390426636f,0.12903714179992676f,0.45971256494522095f,-1.8865612745285034f,1.5917413234710693f,-0.17472904920578003f,1.3308944702148438f,-2.2597649097442627f,-0.03385619446635246f,-0.23437689244747162f,-1.2534494400024414f,-0.26408806443214417f,-1.170938491821289f,-0.2571594715118408f,-1.0241847038269043f},
-{-1.0844218730926514f,0.8761997222900391f,-0.3927857577800751f,0.10885071754455566f,-1.2577664852142334f,0.7939999103546143f,-0.4054011106491089f,0.5431910753250122f,-1.5450149774551392f,0.22130662202835083f,-0.27116647362709045f,-0.7526845335960388f,0.23553097248077393f,-1.0955637693405151f,-0.20967772603034973f,-0.6584876179695129f},
-{-0.8407496213912964f,0.5658552646636963f,0.36391180753707886f,-0.2829425036907196f,-0.6343178153038025f,0.6252744793891907f,0.2872133255004883f,0.39229825139045715f,-1.4613970518112183f,0.22947895526885986f,-0.34503698348999023f,-0.4441416561603546f,-0.00272137182764709f,-0.3266361355781555f,0.05590221285820007f,-1.1430491209030151f},
-{-0.35328859090805054f,-0.09043431282043457f,0.39742106199264526f,0.33738622069358826f,-0.10881924629211426f,-0.196650430560112f,-0.11584559082984924f,0.22384493052959442f,-1.0161447525024414f,0.367963969707489f,0.09880797564983368f,0.34261059761047363f,-0.16485224664211273f,-0.029696160927414894f,-0.2961459457874298f,-0.9798188209533691f},
-{1.1166077852249146f,-0.8807020783424377f,-0.0051451027393341064f,0.24785789847373962f,0.9506633281707764f,-0.8863392472267151f,0.1294034719467163f,-1.1181002855300903f,-0.1819683164358139f,0.18784251809120178f,0.35077041387557983f,0.5736857056617737f,-0.06842327117919922f,1.0477333068847656f,-0.3865056037902832f,-0.9327677488327026f},
-{3.284773111343384f,-3.371878147125244f,0.21773302555084229f,0.23583510518074036f,3.1542773246765137f,-3.0821757316589355f,0.16514194011688232f,-3.329540491104126f,1.6303980350494385f,0.20284788310527802f,-0.24478337168693542f,1.4629696607589722f,-0.26506540179252625f,3.08347487449646f,-0.4132833778858185f,0.32265838980674744f},
-{-0.16142688691616058f,0.6516218781471252f,-0.2501986622810364f,-0.7905404567718506f,-0.6181723475456238f,0.8566709160804749f,0.06014183163642883f,-0.4896201193332672f,1.5439631938934326f,-0.1533675193786621f,0.15192021429538727f,-0.10490059852600098f,-0.1730978935956955f,0.016282489523291588f,-0.15618428587913513f,0.5365569591522217f},
-{-0.8748350739479065f,0.699435293674469f,-0.26619744300842285f,-0.08359992504119873f,-1.2200344800949097f,0.7180229425430298f,-0.17925891280174255f,0.24654683470726013f,0.32283562421798706f,0.030707592144608498f,0.10629666596651077f,-0.48497965931892395f,0.37155985832214355f,-0.5724917650222778f,0.04303058981895447f,0.5190708637237549f},
-{0.44692766666412354f,0.06991451233625412f,0.10248100757598877f,-0.6408140659332275f,0.08631881326436996f,-0.2442355901002884f,-0.07246989011764526f,-0.8822688460350037f,0.9748199582099915f,0.2915976345539093f,-0.2963060140609741f,0.3272884786128998f,0.22921693325042725f,0.7057540416717529f,-0.30555272102355957f,1.1995744705200195f},
-{0.10254709422588348f,-0.41143253445625305f,0.18462657928466797f,-0.4237739145755768f,0.2854340970516205f,-0.03984415903687477f,-0.2990540862083435f,-0.3689456582069397f,1.033217430114746f,-0.506875216960907f,-0.007301787845790386f,-0.4488030672073364f,0.372331827878952f,0.18685422837734222f,0.3484981060028076f,0.7737299799919128f},
-{0.4530602991580963f,0.06132202595472336f,0.37182438373565674f,-0.03273813799023628f,0.0010348001960664988f,-0.13872838020324707f,-0.20339298248291016f,0.0005765249952673912f,0.3678560256958008f,0.007492598611861467f,0.3493041396141052f,-0.34462884068489075f,-0.06654797494411469f,0.24928389489650726f,0.26688337326049805f,0.2785782217979431f},
-{-0.4162179231643677f,-0.3465555012226105f,-0.40320003032684326f,-0.26510435342788696f,0.01366904191672802f,-0.13112711906433105f,0.1533789038658142f,0.6211925745010376f,0.4397057294845581f,0.1924997866153717f,-0.41328826546669006f,-0.0027057332918047905f,0.14470605552196503f,0.1354319006204605f,0.10493969917297363f,0.35834529995918274f},
-{-0.09877526015043259f,-0.15477481484413147f,0.19847965240478516f,-0.08667934685945511f,0.21006469428539276f,0.05856190621852875f,-0.2404318004846573f,0.5306714177131653f,0.29814204573631287f,-0.20526979863643646f,-0.10813693702220917f,-0.45609328150749207f,0.09201034903526306f,0.1650717556476593f,-0.22268100082874298f,-0.07950642704963684f},
-{-0.18069559335708618f,-0.07498950511217117f,0.4127817749977112f,-0.29987478256225586f,-0.34160202741622925f,-0.36815145611763f,-0.32001304626464844f,0.18809133768081665f,0.2339780628681183f,-0.23265855014324188f,-0.19404397904872894f,-0.44801175594329834f,-0.31276315450668335f,0.09648053348064423f,0.0479682981967926f,0.23451268672943115f},
-{0.09760818630456924f,0.05593819171190262f,0.20282304286956787f,-0.1285126656293869f,0.21780484914779663f,-0.24251754581928253f,0.04202890396118164f,0.8997607827186584f,0.4931466281414032f,0.07827243953943253f,-0.2784428298473358f,-0.7169914841651917f,0.10353262722492218f,0.04148343950510025f,0.0668090283870697f,0.10605200380086899f},
-{-0.17180080711841583f,-0.24694566428661346f,-0.40439701080322266f,-0.278349369764328f,-0.3476768434047699f,-0.05055616796016693f,-0.15568238496780396f,0.7173581123352051f,0.24213942885398865f,-0.006808132864534855f,-0.47287464141845703f,-0.4041852056980133f,-0.2711547017097473f,0.034751903265714645f,-0.08245879411697388f,-0.017323751002550125f},
-{0.10924900323152542f,-0.37913835048675537f,0.16706281900405884f,-0.1058274433016777f,0.09666857868432999f,-0.6143539547920227f,-0.041414469480514526f,0.46004220843315125f,0.15673750638961792f,0.09002777934074402f,-0.35252657532691956f,0.13107328116893768f,0.11200001835823059f,0.6850409507751465f,0.29427415132522583f,-0.10907641053199768f},
+    {-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] = {
-    {-0.2100285440683365f,0.5450449585914612f,-0.06966331601142883f,-0.16327691078186035f,-0.21907491981983185f,-0.7174352407455444f,-0.08997400104999542f,0.03496444225311279f,-0.43008196353912354f,-0.1415480375289917f,-1.024130940437317f,-0.43296945095062256f,0.12968102097511292f,-1.542701005935669f,-0.4490607678890228f,-4.010191440582275f},
-{0.09335885941982269f,-2.328054904937744f,0.057057321071624756f,-0.4136889576911926f,-0.35503754019737244f,-1.8548954725265503f,-0.5476264953613281f,-0.3163917064666748f,-0.33757925033569336f,0.2895788848400116f,-3.989751100540161f,-0.2958875000476837f,0.33698758482933044f,2.3751473426818848f,-0.10209953784942627f,-1.2367063760757446f},
+    {-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},
-{0.05469902977347374f,-0.25110578536987305f,-0.2894435524940491f,0.5345750451087952f,0.08946844935417175f,0.4574865400791168f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.3205234110355377f,0.3810727894306183f,-0.404754102230072f,-0.2590928077697754f,0.2257760912179947f,0.16342028975486755f},
-{-0.25391754508018494f,0.49998918175697327f,-0.25313520431518555f,0.0678805261850357f,0.036378175020217896f,-0.5025586485862732f,-0.58262699842453f,-0.12088710814714432f,-0.024399548768997192f,-0.39465832710266113f,-1.5418189764022827f,-0.7374540567398071f,0.10077962279319763f,-0.4282504618167877f,-0.49100643396377563f,-0.64886075258255f},
-{0.34239134192466736f,-1.3530895709991455f,-0.3519742488861084f,0.014243300072848797f,-0.3015052080154419f,-1.4964323043823242f,-0.6469179391860962f,-0.04728340730071068f,-0.23047015070915222f,0.3579089343547821f,-2.080329179763794f,-0.22948884963989258f,-0.20959392189979553f,1.118597149848938f,0.13593792915344238f,-2.15841007232666f},
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-{0.1319282501935959f,-1.5630793571472168f,0.33083590865135193f,-0.6722083687782288f,-0.14358049631118774f,-1.5424034595489502f,-0.5113024115562439f,-0.32745271921157837f,0.2600560486316681f,-0.37898191809654236f,-2.461042642593384f,-0.40288063883781433f,-0.31673234701156616f,1.471474289894104f,0.17047874629497528f,-0.9254405498504639f},
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 };
 
 const float h3[16][16] = {
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-{-0.2675279378890991f,0.4225318431854248f,-1.3155782222747803f,0.011379898525774479f,1.3093910217285156f,0.03549259528517723f,-0.32875844836235046f,-0.31893211603164673f,-0.9009249806404114f,-0.3259560763835907f,-0.5623511672019958f,-0.42054229974746704f,0.45179739594459534f,2.150045156478882f,0.3168305456638336f,0.050804875791072845f},
-{-0.015470266342163086f,-0.5833328366279602f,0.6117988228797913f,0.3354269862174988f,0.33325907588005066f,-0.5840275883674622f,0.05196094512939453f,-0.008358269929885864f,-0.5232630372047424f,-0.37522807717323303f,0.06831542402505875f,-0.11511552333831787f,0.5202909708023071f,-0.2629256248474121f,-0.06220770627260208f,-0.4585099518299103f},
-{0.1863725483417511f,1.084182858467102f,-1.0181115865707397f,-0.4724007248878479f,-0.33689597249031067f,0.9457219839096069f,0.04860696196556091f,0.17769548296928406f,-0.12625347077846527f,0.3378079831600189f,-0.4645434319972992f,0.19592127203941345f,-0.12818381190299988f,1.0687506198883057f,-0.028336618095636368f,-0.11500971764326096f},
+{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,1.3250397443771362f,-0.43074095249176025f,-0.16762784123420715f,-0.8715445399284363f,-0.003051317995414138f,0.0030125975608825684f,0.15066689252853394f,-0.0765313059091568f,0.4119625687599182f,0.11355479061603546f,-0.2710728645324707f,-0.8439583778381348f,0.3218585252761841f,0.46201157569885254f,-0.1275034099817276f };
-
-const float b1[16] = { 0.34294191002845764f,1.5131592750549316f,-1.7145336866378784f,0.27451324462890625f,0.7751843929290771f,1.270938515663147f,-0.058932315558195114f,0.9476056098937988f,1.562255859375f,-1.0377662181854248f,0.5732393264770508f,1.2818049192428589f,-0.37127330899238586f,-1.085002064704895f,-1.087764859199524f,2.2922277450561523f };
-
-const float b2[16] = { -0.1286313831806183f,-1.2512075901031494f,-1.4564176797866821f,-0.8030261397361755f,-0.6939148902893066f,-0.16376319527626038f,0.1311706006526947f,-0.3665841221809387f,-1.20063054561615f,-1.912178635597229f,-0.45517241954803467f,0.411864310503006f,-0.07918518036603928f,1.8873957395553589f,-0.0411815345287323f,0.7242259383201599f };
-
-const float b3[16] = { -1.963319182395935f,-0.7351341247558594f,0.33326515555381775f,-0.1386529505252838f,0.015884902328252792f,-0.056516703218221664f,-0.45353031158447266f,-0.6562485098838806f,-0.015211169607937336f,0.611303448677063f,-0.34831100702285767f,-0.014407366514205933f,-0.7992978692054749f,-1.2589401006698608f,-1.226777195930481f,-0.5482154488563538f };
-
-const float bout[1] = { 0.22396063804626465f };
+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 };
@@ -1031,13 +1031,13 @@
 //            }
 
             for(int i=0; i<numpast_f; i++) {
-                input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
+                input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f;
                 ind = ind + 1;
             }
-            input_NN[ind] = torq.sen / 10000.0f + 0.5f;
+            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+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+0.5f;
                 ind = ind + 1;
             }