Diff: main.cpp

Revision:

181:2a8b5f3274be

Parent:

180:02be1711ee0b

Child:

182:11105b2528dc

--- a/main.cpp	Tue Dec 15 00:19:25 2020 +0000
+++ b/main.cpp	Tue Dec 15 01:36:28 2020 +0000
@@ -1,4 +1,4 @@
-//201215-1
+//201215-2
 #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] = {
-    {-1.2747926712036133f,0.8866214156150818f,0.12903714179992676f,0.1954565942287445f,-1.0775936841964722f,1.0385150909423828f,-0.17472904920578003f,1.2043118476867676f,-1.0528837442398071f,0.16233131289482117f,-0.23384490609169006f,-0.9654906988143921f,-0.26406702399253845f,0.45232266187667847f,-0.2571594715118408f,-1.4159953594207764f},
-{-0.9898881912231445f,0.5978912115097046f,-0.3927857577800751f,-0.10504250973463058f,-0.7563983798027039f,0.5094512104988098f,-0.4054011106491089f,1.1116833686828613f,-0.4969346523284912f,0.41541942954063416f,-0.2706531882286072f,-0.5124550461769104f,0.23551900684833527f,-0.0996662825345993f,-0.20967772603034973f,-0.7428423166275024f},
-{-0.6586143970489502f,0.2526506185531616f,0.36391180753707886f,-0.44479653239250183f,-0.12272748351097107f,0.29624244570732117f,0.2872133255004883f,1.3258525133132935f,-0.23638273775577545f,0.4212562143802643f,-0.34454482793807983f,-0.2005833387374878f,-0.002771292580291629f,0.36579757928848267f,0.05590221285820007f,-0.5957719087600708f},
-{-0.17435620725154877f,-0.34709569811820984f,0.39742106199264526f,0.23025836050510406f,0.31759893894195557f,-0.48005908727645874f,-0.11584559082984924f,1.618665337562561f,0.2961588501930237f,0.5570516586303711f,0.09927701205015182f,0.5736197233200073f,-0.1649491935968399f,0.2608615458011627f,-0.2961459457874298f,0.12930260598659515f},
-{0.7618234157562256f,-0.5603615045547485f,-0.0051451027393341064f,0.19888998568058014f,0.7619378566741943f,-0.606192409992218f,0.1294034719467163f,1.2932729721069336f,0.6787902116775513f,0.37368881702423096f,0.3512172996997833f,0.7094911336898804f,-0.06857605278491974f,0.38823315501213074f,-0.3865056037902832f,0.2566696107387543f},
-{1.4753985404968262f,-1.5749534368515015f,0.21773302555084229f,0.24970105290412903f,1.438091516494751f,-1.3410722017288208f,0.16514194011688232f,1.0581666231155396f,1.1054584980010986f,0.38477128744125366f,-0.2443389892578125f,1.3622721433639526f,-0.26528480648994446f,0.5235674381256104f,-0.4132833778858185f,0.7429633736610413f},
-{-0.1381414830684662f,0.32296326756477356f,-0.2501986622810364f,-0.6822501420974731f,-0.6484224200248718f,0.3961770534515381f,0.06014183163642883f,-1.9562623500823975f,0.14606209099292755f,-0.30881643295288086f,0.15261518955230713f,-0.10579380393028259f,-0.17127792537212372f,-0.04263466224074364f,-0.15618428587913513f,-0.033108823001384735f},
-{0.10407276451587677f,-0.17438587546348572f,-0.26619744300842285f,-0.10469675064086914f,-0.40487462282180786f,-0.18597395718097687f,-0.17925891280174255f,-1.6444649696350098f,-0.010120101273059845f,-0.23186346888542175f,0.10695241391658783f,-0.2862721085548401f,0.37284889817237854f,-0.23048385977745056f,0.04303058981895447f,0.28026261925697327f},
-{0.30488404631614685f,0.349077045917511f,0.10248100757598877f,-0.5642396211624146f,-0.1891011893749237f,0.013860803097486496f,-0.07246989011764526f,-1.5340245962142944f,-0.27067628502845764f,0.018050722777843475f,-0.2956160306930542f,0.1977348029613495f,0.23040179908275604f,-0.1158660352230072f,-0.30555272102355957f,0.28618332743644714f},
-{0.10323967039585114f,-0.2507255971431732f,0.18462657928466797f,-0.2965702414512634f,0.1769070029258728f,0.11360282450914383f,-0.2990540862083435f,-1.0921586751937866f,0.046090397983789444f,-0.784417986869812f,-0.0066079325042665005f,-0.54339599609375f,0.3733484447002411f,-0.531656801700592f,0.3484981060028076f,0.09402719140052795f},
-{0.5437068939208984f,0.12157454341650009f,0.37182438373565674f,0.10810510069131851f,0.017796188592910767f,-0.06259164214134216f,-0.20339298248291016f,-0.9021218419075012f,-0.41913050413131714f,-0.2746804654598236f,0.35008612275123596f,-0.3781108260154724f,-0.06551998108625412f,-0.29703405499458313f,0.26688337326049805f,-0.31737634539604187f},
-{-0.24231690168380737f,-0.3807550072669983f,-0.40320003032684326f,-0.135234072804451f,0.13232052326202393f,-0.12746357917785645f,0.1533789038658142f,-0.46155455708503723f,-0.13511259853839874f,-0.08907300978899002f,-0.41252845525741577f,0.06504666805267334f,0.14570680260658264f,-0.2993526756763458f,0.10493969917297363f,-0.09489677101373672f},
-{0.0872870460152626f,-0.23291699588298798f,0.19847965240478516f,0.02823140099644661f,0.37074705958366394f,0.040752362459897995f,-0.2404318004846573f,-0.586179256439209f,-0.11466588079929352f,-0.4817463457584381f,-0.10735541582107544f,-0.3017888367176056f,0.09303940832614899f,-0.2488478273153305f,-0.22268100082874298f,-0.37364980578422546f},
-{-0.051991432905197144f,-0.12674333155155182f,0.4127817749977112f,-0.19834384322166443f,-0.20412969589233398f,-0.3441471755504608f,-0.32001304626464844f,-0.9517143368721008f,-0.07627648115158081f,-0.5058509111404419f,-0.1932433545589447f,-0.2879234254360199f,-0.31180211901664734f,-0.30530187487602234f,0.0479682981967926f,0.06262191385030746f},
-{0.10936000198125839f,0.09897122532129288f,0.20282304286956787f,-0.03914237394928932f,0.2795373797416687f,-0.11763463914394379f,0.04202890396118164f,-0.4100075960159302f,0.23455728590488434f,-0.19801537692546844f,-0.27762651443481445f,-0.6615355014801025f,0.10450632870197296f,-0.29707828164100647f,0.0668090283870697f,-0.0025110316928476095f},
-{-0.07633624225854874f,-0.29659169912338257f,-0.40439701080322266f,-0.18466457724571228f,-0.17516319453716278f,-0.013456307351589203f,-0.15568238496780396f,-0.6675025224685669f,0.1871490478515625f,-0.28267568349838257f,-0.4720761179924011f,-0.25658828020095825f,-0.2701036036014557f,-0.2391444593667984f,-0.08245879411697388f,0.0812353640794754f},
-{-0.1064588725566864f,-0.12016399204730988f,0.16706281900405884f,0.007519781589508057f,-0.017588406801223755f,-0.26146987080574036f,-0.041414469480514526f,-0.6730034947395325f,-0.06899238377809525f,-0.18613839149475098f,-0.3516925573348999f,0.1851750761270523f,0.11302956193685532f,0.11544660478830338f,0.29427415132522583f,-0.08377157896757126f},
+    {0.08059316128492355f,0.6838099956512451f,0.12903714179992676f,0.4585042893886566f,-0.9330493211746216f,0.7820676565170288f,-0.17472904920578003f,0.5929365158081055f,-0.8172562718391418f,0.05025840923190117f,-0.22792614996433258f,-0.5645073056221008f,-0.26447197794914246f,0.34380945563316345f,-0.2571594715118408f,-1.4536206722259521f},
+{-0.06843511015176773f,0.4414166808128357f,-0.3927857577800751f,0.15489579737186432f,-0.6540799736976624f,0.29724636673927307f,-0.4054011106491089f,0.18746623396873474f,-0.3084494471549988f,0.3044531047344208f,-0.26472508907318115f,-0.2922133505344391f,0.23510316014289856f,-0.20713169872760773f,-0.20967772603034973f,-0.8509552478790283f},
+{-0.1643858551979065f,0.1446225345134735f,0.36391180753707886f,-0.18808580935001373f,-0.06454475224018097f,0.13017675280570984f,0.2872133255004883f,0.09860920906066895f,-0.09649200737476349f,0.3113968074321747f,-0.3386077284812927f,-0.15769506990909576f,-0.0031952743884176016f,0.25935444235801697f,0.05590221285820007f,-0.776764452457428f},
+{-0.11569413542747498f,-0.4068849980831146f,0.39742106199264526f,0.48360368609428406f,0.33205947279930115f,-0.6003721356391907f,-0.11584559082984924f,0.08130582422018051f,0.3878571391105652f,0.4483059346675873f,0.105223149061203f,0.4361564815044403f,-0.16538025438785553f,0.15540266036987305f,-0.2961459457874298f,-0.12508058547973633f},
+{0.35479822754859924f,-0.5773555636405945f,-0.0051451027393341064f,0.4487404525279999f,0.7382810711860657f,-0.6862490773200989f,0.1294034719467163f,-0.5869422554969788f,0.7271066308021545f,0.2660955786705017f,0.3571736812591553f,0.3810521066188812f,-0.06901402026414871f,0.28377822041511536f,-0.3865056037902832f,-0.06671316921710968f},
+{0.5522244572639465f,-1.554945468902588f,0.21773302555084229f,0.49587738513946533f,1.3824152946472168f,-1.386751651763916f,0.16514194011688232f,-1.2176135778427124f,1.1150975227355957f,0.278342604637146f,-0.23837466537952423f,0.8222489356994629f,-0.2657281160354614f,0.42007002234458923f,-0.4132833778858185f,0.35377174615859985f},
+{-0.5814220309257507f,0.33646413683891296f,-0.2501986622810364f,-1.3750731945037842f,-0.8147061467170715f,0.731468141078949f,0.06014183163642883f,0.08090995997190475f,0.08669452369213104f,-0.2917703688144684f,0.15766414999961853f,-0.6732032895088196f,-0.17225678265094757f,0.02596128359436989f,-0.15618428587913513f,1.4006550312042236f},
+{-0.34514936804771423f,-0.049776703119277954f,-0.26619744300842285f,-0.26967060565948486f,-0.5994526147842407f,0.04246774688363075f,-0.17925891280174255f,-0.3342619836330414f,-0.16641566157341003f,-0.04858541488647461f,0.11226584017276764f,-0.6202855706214905f,0.3721274733543396f,0.002934061223641038f,0.04303058981895447f,0.3797107934951782f},
+{-0.16485169529914856f,0.3687754273414612f,0.10248100757598877f,-0.7319263219833374f,-0.25461676716804504f,0.10218558460474014f,-0.07246989011764526f,-0.5123102068901062f,-0.2873164117336273f,0.19666269421577454f,-0.29032474756240845f,-0.08155026286840439f,0.22964464128017426f,0.10404440015554428f,-0.30555272102355957f,0.5234727263450623f},
+{-0.3842744827270508f,-0.12795858085155487f,0.18462657928466797f,-0.4709790349006653f,0.02566634863615036f,0.2784605026245117f,-0.2990540862083435f,-0.11813750863075256f,-0.0513276606798172f,-0.6121172904968262f,-0.001270004897378385f,-0.9109545946121216f,0.3726291358470917f,-0.32367831468582153f,0.3484981060028076f,0.23494087159633636f},
+{0.1562412679195404f,0.060033056885004044f,0.37182438373565674f,-0.07121864706277847f,0.06713905185461044f,-0.10511155426502228f,-0.20339298248291016f,-0.13800114393234253f,-0.3202115297317505f,-0.10405322909355164f,0.3553784191608429f,-0.5518741011619568f,-0.06626003235578537f,-0.09551427513360977f,0.26688337326049805f,0.018239976838231087f},
+{-0.5941224694252014f,-0.23777620494365692f,-0.40320003032684326f,-0.31705784797668457f,-0.015506955794990063f,0.017545536160469055f,0.1533789038658142f,0.45822274684906006f,-0.22824068367481232f,0.07836488634347916f,-0.4071876108646393f,-0.2756684124469757f,0.14495661854743958f,-0.10264411568641663f,0.10493969917297363f,-0.0005824507097713649f},
+{-0.25569793581962585f,-0.19621911644935608f,0.19847965240478516f,-0.15797235071659088f,0.345569908618927f,0.06000465527176857f,-0.2404318004846573f,0.08413219451904297f,-0.08944720029830933f,-0.31927502155303955f,-0.1020159125328064f,-0.5156699419021606f,0.09228844195604324f,-0.05963599309325218f,-0.22268100082874298f,-0.1811557114124298f},
+{-0.3295969069004059f,0.060612753033638f,0.4127817749977112f,-0.3861438035964966f,-0.36917024850845337f,-0.1909361481666565f,-0.32001304626464844f,-0.21803538501262665f,-0.18387441337108612f,-0.3484867215156555f,-0.1878705471754074f,-0.5784162282943726f,-0.3125506341457367f,-0.12499208748340607f,0.0479682981967926f,0.086069755256176f},
+{0.016594847664237022f,0.20813298225402832f,0.20282304286956787f,-0.22358374297618866f,0.19735734164714813f,-0.052274011075496674f,0.04202890396118164f,0.3879692852497101f,0.20809297263622284f,-0.04033491015434265f,-0.2722669839859009f,-0.8398635983467102f,0.1037883311510086f,-0.11886490881443024f,0.0668090283870697f,0.07692024856805801f},
+{-0.18911008536815643f,-0.15539002418518066f,-0.40439701080322266f,-0.3687029480934143f,-0.28031474351882935f,0.07188887894153595f,-0.15568238496780396f,0.07451104372739792f,0.1388389766216278f,-0.12777215242385864f,-0.4666607081890106f,-0.45405423641204834f,-0.2708668112754822f,-0.06570909172296524f,-0.08245879411697388f,0.12069441378116608f},
+{-0.2098730206489563f,0.0005108541809022427f,0.16706281900405884f,-0.17491242289543152f,-0.09242749214172363f,-0.21054498851299286f,-0.041414469480514526f,0.07390790432691574f,-0.08338413387537003f,-0.0332307405769825f,-0.34629935026168823f,0.014119500294327736f,0.11230245977640152f,0.28523188829421997f,0.29427415132522583f,-0.015851952135562897f},
 };
 
 const float h2[16][16] = {
-    {-0.48791801929473877f,0.6882094144821167f,-0.06966331601142883f,0.004637989681214094f,-0.21907491981983185f,0.06930378824472427f,0.07693875581026077f,0.036887940019369125f,-0.43008196353912354f,-0.1415480375289917f,-0.5828585028648376f,-0.32945704460144043f,-0.008075037971138954f,-1.5241717100143433f,-0.2089289128780365f,-0.7718607783317566f},
-{0.04395662993192673f,-1.437508463859558f,0.057057321071624756f,-0.12063508480787277f,-0.35503754019737244f,-0.8848034143447876f,-0.41094034910202026f,-0.34160447120666504f,-0.33757925033569336f,0.2895788848400116f,-1.4832773208618164f,-0.636014461517334f,0.19798265397548676f,0.9338656067848206f,-0.30581197142601013f,-0.20769454538822174f},
+    {-0.05400395393371582f,-0.22951123118400574f,-0.06966331601142883f,-0.10873724520206451f,-0.21907491981983185f,0.39131346344947815f,0.2356909215450287f,-0.008777995593845844f,-0.43008196353912354f,-0.1415480375289917f,0.06827273964881897f,-0.13159732520580292f,0.12968102097511292f,0.07670671492815018f,-0.0314212366938591f,-0.21922312676906586f},
+{0.9290517568588257f,-0.9921830296516418f,0.057057321071624756f,-0.20214742422103882f,-0.35503754019737244f,-0.46737948060035706f,-0.6570143103599548f,-0.7452677488327026f,-0.4557425379753113f,0.2895788848400116f,-0.9277383685112f,-0.5550819635391235f,0.33698758482933044f,0.45979171991348267f,-0.4884485900402069f,-2.1815340518951416f},
 {-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},
-{0.07395064830780029f,-0.270321786403656f,-0.2894435524940491f,0.4473000168800354f,0.08946844935417175f,0.2554236948490143f,-0.23805393278598785f,0.35016298294067383f,0.26211628317832947f,0.2953031361103058f,0.2565111219882965f,0.38108423352241516f,-0.404754102230072f,-0.24778899550437927f,0.17891016602516174f,0.042497243732213974f},
-{-0.5532359480857849f,0.39376264810562134f,-0.25313520431518555f,0.1859339028596878f,0.036378175020217896f,0.017076050862669945f,-0.39785856008529663f,-0.1502944529056549f,-0.024399548768997192f,-0.39465832710266113f,-0.5060166716575623f,-0.6321212649345398f,-0.03745249658823013f,-0.5525979995727539f,-0.34934699535369873f,-0.5389713644981384f},
-{0.10334087163209915f,-0.846465528011322f,-0.3519742488861084f,0.1501602679491043f,-0.3015052080154419f,-0.7330282330513f,-0.4977985620498657f,-0.08387657254934311f,-0.23047015070915222f,0.3579089343547821f,-1.1615582704544067f,-0.32632172107696533f,-0.348274827003479f,0.9656168818473816f,0.16907939314842224f,-0.29072293639183044f},
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 };
 
 const float h3[16][16] = {
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-{0.1863725483417511f,0.08846206963062286f,-0.050088606774806976f,-0.46936851739883423f,0.5272957682609558f,0.07133814692497253f,0.04860696196556091f,0.17769548296928406f,-1.3204635381698608f,0.06790181249380112f,-0.14967891573905945f,0.19592127203941345f,0.4656137526035309f,0.1081087589263916f,-0.06106513738632202f,-0.11734148859977722f},
+{0.15459725260734558f,0.3942316770553589f,0.013690208084881306f,-0.09359592944383621f,-0.07358632236719131f,0.10678815841674805f,-0.08742031455039978f,0.05785742402076721f,-0.09137898683547974f,-0.343021959066391f,0.3351368010044098f,-0.30447322130203247f,0.01849541999399662f,-0.2119709849357605f,0.44943687319755554f,0.32524192333221436f},
+{-0.408692330121994f,-0.15511342883110046f,0.17088568210601807f,0.0922636091709137f,0.07895755022764206f,-0.2857224643230438f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.45054206252098083f,-0.3511306345462799f,-0.3359401822090149f,0.31680548191070557f},
+{-0.2991822361946106f,0.3794580399990082f,-0.07897943258285522f,-0.05932474136352539f,0.08582660555839539f,0.24227938055992126f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.015840977430343628f,-0.13475483655929565f,0.36124154925346375f,-0.16869547963142395f},
+{-0.2675279378890991f,-0.3460475504398346f,0.22180698812007904f,-0.09016680717468262f,0.2846950590610504f,-0.2946321964263916f,-0.32875844836235046f,-0.31893211603164673f,-1.2886390686035156f,-0.9467211365699768f,-1.729813814163208f,-0.5661335587501526f,0.5964445471763611f,-0.4080161154270172f,0.37027448415756226f,0.2071458399295807f},
+{-0.015470266342163086f,-0.42435455322265625f,0.4734625816345215f,0.3536997139453888f,0.18134212493896484f,-0.4675792157649994f,0.05196094512939453f,-0.008358269929885864f,-1.2629804611206055f,-0.5019198060035706f,0.025087250396609306f,-0.11511552333831787f,0.38278472423553467f,-0.11798432469367981f,0.054047591984272f,-0.45645639300346375f},
+{0.1863725483417511f,0.2275526225566864f,-0.5136680603027344f,-0.45637550950050354f,-0.3339087963104248f,0.8623207807540894f,0.04860696196556091f,0.17769548296928406f,0.06988368183374405f,0.21612535417079926f,-0.32679811120033264f,0.19592127203941345f,-0.21065615117549896f,0.9122236967086792f,-0.04827544093132019f,-0.114141084253788f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.3859798014163971f,-0.29981717467308044f,-0.03291182219982147f,-0.8433356881141663f,1.002862572669983f,0.0030125975608825684f,0.15066689252853394f,-2.8478612899780273f,-0.10332534462213516f,1.0703125f,-0.1749168038368225f,-0.3780519664287567f,1.3915053606033325f,0.34188297390937805f,-0.17065440118312836f };
-
-const float b1[16] = { 1.1156562566757202f,1.2580926418304443f,-1.7145336866378784f,0.18262852728366852f,0.7823516130447388f,0.998382568359375f,-0.058932315558195114f,-1.9845973253250122f,0.21749649941921234f,-1.0451427698135376f,0.5739218592643738f,1.1615904569625854f,-0.3700066804885864f,-1.0825129747390747f,-1.087764859199524f,1.4952983856201172f };
-
-const float b2[16] = { -0.3779629170894623f,-1.1113404035568237f,-1.4564176797866821f,-0.6393038630485535f,-0.6939148902893066f,-0.06903098523616791f,0.2865044176578522f,-0.3734967112541199f,-1.20063054561615f,-1.912178635597229f,-0.13764147460460663f,0.5186623334884644f,-0.21744106709957123f,2.212801933288574f,0.06957299262285233f,0.9868263602256775f };
-
-const float b3[16] = { -1.963319182395935f,-0.5935878157615662f,-0.005241615232080221f,-0.24495701491832733f,0.04313206300139427f,0.9367193579673767f,-0.45353031158447266f,-0.6562485098838806f,-0.07319840788841248f,-0.035821571946144104f,-0.0942746177315712f,-0.0137743866071105f,-0.5863775610923767f,0.59046870470047f,-1.1678985357284546f,-0.3959362506866455f };
-
-const float bout[1] = { -0.09139688313007355f };
+const float hout[16] = { 0.45773375034332275f,0.8770678043365479f,-0.5642080903053284f,-0.06896117329597473f,-0.44897395372390747f,1.097171425819397f,0.0030125975608825684f,0.15066689252853394f,-2.6636300086975098f,-0.20573356747627258f,2.1506714820861816f,-0.12040673196315765f,-0.5546231865882874f,0.8441613912582397f,0.3788313567638397f,-0.1722545176744461f };
+
+const float b1[16] = { 0.29917195439338684f,1.240564227104187f,-1.7145336866378784f,-0.009053205139935017f,0.8226833939552307f,1.1139267683029175f,-0.058932315558195114f,0.9074918627738953f,0.2987629771232605f,-1.1111444234848022f,0.5792149901390076f,1.1139918565750122f,-0.37065640091896057f,-1.0110033750534058f,-1.087764859199524f,1.4034990072250366f };
+
+const float b2[16] = { 0.1707206815481186f,-0.9527223110198975f,-1.4564176797866821f,-0.686187207698822f,-0.6939148902893066f,-0.07072640210390091f,0.33335962891578674f,-0.42512816190719604f,-1.3534284830093384f,-1.912178635597229f,0.046489447355270386f,0.5405064821243286f,-0.07918518036603928f,1.924153208732605f,0.043257370591163635f,0.741142988204956f };
+
+const float b3[16] = { -1.963319182395935f,-0.3596874177455902f,-0.11595775187015533f,-0.21615983545780182f,-0.1688675433397293f,1.119028925895691f,-0.45353031158447266f,-0.6562485098838806f,0.2832948863506317f,0.031506508588790894f,-0.27314963936805725f,-0.10737795382738113f,-0.3551398515701294f,0.7503713369369507f,-1.1661463975906372f,-0.39268162846565247f };
+
+const float bout[1] = { 0.02880154363811016f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };
@@ -1037,8 +1037,8 @@
             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;
             }