Diff: main.cpp

Revision:

154:cec78c7b20db

Parent:

153:0c49704a06ed

Child:

155:6430e3f23871

--- a/main.cpp	Sat Oct 10 14:15:11 2020 +0000
+++ b/main.cpp	Sun Oct 11 05:55:47 2020 +0000
@@ -1,4 +1,4 @@
-//201010-3
+//201011-1
 #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] = { 
-   {-1.0053454637527466f,1.165382981300354f,0.12903714179992676f,0.4168238937854767f,-1.7215864658355713f,1.218638300895691f,-0.17472904920578003f,-1.927714228630066f,-2.76181697845459f,-1.4767682552337646f,-0.23348425328731537f,-0.6109985709190369f,-0.27126044034957886f,-0.914866030216217f,-0.2571594715118408f,-0.5817620158195496f},
-{-1.017139196395874f,1.1311887502670288f,-0.3927857577800751f,0.037795133888721466f,-1.6398292779922485f,0.8946645259857178f,-0.4054011106491089f,-0.8570223450660706f,-1.9269729852676392f,-0.9376359581947327f,-0.2703639566898346f,-0.47140437364578247f,0.2284385859966278f,-1.337502360343933f,-0.20967772603034973f,-0.18805253505706787f},
-{-0.8096152544021606f,0.873984158039093f,0.36391180753707886f,-0.3808029890060425f,-1.0694563388824463f,0.697857677936554f,0.2872133255004883f,0.6197472214698792f,-1.1962336301803589f,-0.5690436363220215f,-0.3443242609500885f,-0.46265146136283875f,-0.009747563861310482f,-0.5814982652664185f,0.05590221285820007f,-0.3138071596622467f},
-{-0.17405609786510468f,0.07529711723327637f,0.39742106199264526f,0.21521669626235962f,-0.42367881536483765f,-0.3246016800403595f,-0.11584559082984924f,1.8207687139511108f,0.013586725108325481f,0.05418584123253822f,0.09942778199911118f,0.017120322212576866f,-0.1717938780784607f,-0.11846218258142471f,-0.2961459457874298f,0.134671151638031f},
-{1.3664965629577637f,-0.833306610584259f,-0.0051451027393341064f,0.10491812229156494f,0.6566277146339417f,-1.0874406099319458f,0.1294034719467163f,1.1951881647109985f,1.3496301174163818f,0.5694941282272339f,0.35131052136421204f,-0.12914538383483887f,-0.07530196011066437f,1.047242522239685f,-0.3865056037902832f,-0.03148502856492996f},
-{3.1260898113250732f,-3.02878737449646f,0.21773302555084229f,0.07684443891048431f,2.3868446350097656f,-2.839189052581787f,0.16514194011688232f,-0.4935198426246643f,3.018803119659424f,1.4941402673721313f,-0.24429729580879211f,0.23524552583694458f,-0.2719132900238037f,2.696840763092041f,-0.4132833778858185f,0.11943458765745163f},
-{-0.1340257078409195f,0.07503481954336166f,-0.2501986622810364f,-0.5714490413665771f,0.3187718987464905f,0.570574164390564f,0.06014183163642883f,-3.1714365482330322f,0.6567281484603882f,-0.2098853886127472f,0.15420372784137726f,0.2599380314350128f,-0.17985212802886963f,0.39328134059906006f,-0.15618428587913513f,-0.3626363277435303f},
-{-0.34435296058654785f,-0.012538609094917774f,-0.26619744300842285f,-0.04973488301038742f,0.11863096803426743f,0.1475219875574112f,-0.17925891280174255f,0.8492745757102966f,0.6626846194267273f,0.09383076429367065f,0.10795889794826508f,-0.3910355269908905f,0.36379051208496094f,0.056736353784799576f,0.04303058981895447f,0.03499684855341911f},
-{-0.03953158110380173f,0.3932623863220215f,0.10248100757598877f,-0.5355892181396484f,0.21282459795475006f,0.3008025288581848f,-0.07246989011764526f,-0.5614730715751648f,0.21109053492546082f,0.38473838567733765f,-0.29469719529151917f,0.09312517940998077f,0.22130082547664642f,0.2761628329753876f,-0.30555272102355957f,0.06503288447856903f},
-{-0.2498210221529007f,-0.18969154357910156f,0.18462657928466797f,-0.2830526828765869f,0.3524583578109741f,0.437592089176178f,-0.2990540862083435f,-1.018021821975708f,0.24932323396205902f,-0.40441447496414185f,-0.0057074264623224735f,-0.6476274728775024f,0.3643333613872528f,-0.15599457919597626f,0.3484981060028076f,-0.15295149385929108f},
-{0.26362940669059753f,0.14251378178596497f,0.37182438373565674f,0.11428315192461014f,0.06541232764720917f,0.20411162078380585f,-0.20339298248291016f,-1.1337705850601196f,-0.36703523993492126f,0.08266060054302216f,0.35092368721961975f,-0.4030248820781708f,-0.07453419268131256f,0.03711502626538277f,0.26688337326049805f,-0.5110751986503601f},
-{-0.47889503836631775f,-0.3821464478969574f,-0.40320003032684326f,-0.13045842945575714f,0.05750419571995735f,0.07811280339956284f,0.1533789038658142f,-0.6498957872390747f,-0.17832103371620178f,0.28047940135002136f,-0.4116147458553314f,0.06465048342943192f,0.13671906292438507f,0.024875329807400703f,0.10493969917297363f,-0.30010372400283813f},
-{-0.15425777435302734f,-0.18921853601932526f,0.19847965240478516f,0.02928774803876877f,0.1333763599395752f,0.23752522468566895f,-0.2404318004846573f,-0.6078210473060608f,-0.28100213408470154f,-0.13341671228408813f,-0.1064448431134224f,-0.34715205430984497f,0.08407799899578094f,0.05720480531454086f,-0.22268100082874298f,-0.623881459236145f},
-{-0.15392543375492096f,-0.18275730311870575f,0.4127817749977112f,-0.20027711987495422f,-0.4485686123371124f,-0.2975243926048279f,-0.32001304626464844f,-0.8293079137802124f,-0.22202277183532715f,-0.14376209676265717f,-0.1923646777868271f,-0.3389253616333008f,-0.32064521312713623f,0.07501403987407684f,0.0479682981967926f,-0.15467779338359833f},
-{0.03585406765341759f,0.06250490993261337f,0.20282304286956787f,-0.03988397866487503f,-0.08376752585172653f,-0.12575282156467438f,0.04202890396118164f,0.3477931320667267f,0.015949571505188942f,0.0834326520562172f,-0.2767699956893921f,-0.6232771873474121f,0.09574126452207565f,-0.057463183999061584f,0.0668090283870697f,-0.08928685635328293f},
-{-0.056848231703042984f,-0.4038394093513489f,-0.40439701080322266f,-0.19195640087127686f,-0.5874671936035156f,-0.14001378417015076f,-0.15568238496780396f,0.08331834524869919f,-0.0979955643415451f,0.0963992103934288f,-0.471200555562973f,-0.2810949385166168f,-0.2788753807544708f,0.11750313639640808f,-0.08245879411697388f,-0.036898329854011536f},
-{0.2834620475769043f,-0.5991495847702026f,0.16706281900405884f,-0.011049232445657253f,-0.21110573410987854f,-0.7775982618331909f,-0.041414469480514526f,-0.4800585210323334f,-0.20226560533046722f,0.4486004114151001f,-0.35087165236473083f,0.16808921098709106f,0.10427239537239075f,0.8360305428504944f,0.29427415132522583f,-0.17896637320518494f},
+   {-1.4161242246627808f,0.992825984954834f,0.12903714179992676f,0.25115668773651123f,-1.7427406311035156f,0.8739340901374817f,-0.17472904920578003f,0.8986881971359253f,-1.996337652206421f,-0.962634265422821f,-0.23230072855949402f,-0.680978000164032f,-0.2679927349090576f,-0.44175010919570923f,-0.2571594715118408f,-0.5734421014785767f},
+{-1.379308819770813f,1.1080384254455566f,-0.3927857577800751f,-0.06697845458984375f,-1.5962985754013062f,0.5118698477745056f,-0.4054011106491089f,0.4064440131187439f,-1.6081712245941162f,-0.4829193949699402f,-0.26916202902793884f,-0.4671778976917267f,0.23165763914585114f,-1.146871566772461f,-0.20967772603034973f,-0.17520777881145477f},
+{-1.1355550289154053f,1.0175108909606934f,0.36391180753707886f,-0.42452186346054077f,-0.9684833884239197f,0.3060639202594757f,0.2872133255004883f,0.1651298701763153f,-1.3523883819580078f,-0.22674787044525146f,-0.34312736988067627f,-0.38029393553733826f,-0.0065175327472388744f,-0.7559125423431396f,0.05590221285820007f,-0.29146403074264526f},
+{-0.46463543176651f,0.32337769865989685f,0.39742106199264526f,0.2328469604253769f,-0.24613499641418457f,-0.7024598121643066f,-0.11584559082984924f,-0.07264973223209381f,-0.5539814829826355f,0.2218199521303177f,0.10067088901996613f,0.18400025367736816f,-0.16854804754257202f,-0.6136618852615356f,-0.2961459457874298f,0.16726955771446228f},
+{1.1648187637329102f,-0.6944136619567871f,-0.0051451027393341064f,0.18585360050201416f,0.9927390217781067f,-1.4784445762634277f,0.1294034719467163f,-1.0221235752105713f,0.6059274077415466f,0.475241094827652f,0.35257402062416077f,0.12681031227111816f,-0.07205254584550858f,0.596339225769043f,-0.3865056037902832f,0.007489339914172888f},
+{3.0825719833374023f,-3.2178292274475098f,0.21773302555084229f,0.22297228872776031f,2.977386474609375f,-3.2748260498046875f,0.16514194011688232f,-1.9934115409851074f,2.3213448524475098f,1.0544772148132324f,-0.2430162876844406f,0.5937198400497437f,-0.26862701773643494f,2.6702699661254883f,-0.4132833778858185f,0.16142210364341736f},
+{0.46075454354286194f,0.27374544739723206f,-0.2501986622810364f,-0.6352483034133911f,-0.19303849339485168f,1.4442561864852905f,0.06014183163642883f,-0.7219006419181824f,0.8586359620094299f,-0.03348755091428757f,0.1528216302394867f,0.2115553319454193f,-0.17632591724395752f,0.9790327548980713f,-0.15618428587913513f,-0.19608163833618164f},
+{-0.582243800163269f,0.7266157269477844f,-0.26619744300842285f,0.010298643261194229f,-0.8755942583084106f,0.7854861617088318f,-0.17925891280174255f,-0.5304920077323914f,0.01913788542151451f,0.0046152896247804165f,0.10697544366121292f,-0.4557430148124695f,0.36736738681793213f,-1.4727756977081299f,0.04303058981895447f,-0.03708870708942413f},
+{-0.13341276347637177f,0.7978390455245972f,0.10248100757598877f,-0.47335085272789f,-0.3980522155761719f,0.7353972792625427f,-0.07246989011764526f,-0.5362434983253479f,-0.03726188465952873f,0.31169697642326355f,-0.2956651747226715f,-0.001988660078495741f,0.22484730184078217f,-0.7079612016677856f,-0.30555272102355957f,-0.004499821458011866f},
+{-0.05304539203643799f,-0.2544385492801666f,0.18462657928466797f,-0.21820516884326935f,0.2486313432455063f,0.6026263236999512f,-0.2990540862083435f,-0.21822579205036163f,0.5066520571708679f,-0.35049867630004883f,-0.006599996238946915f,-0.7163792848587036f,0.3678649365901947f,-0.32229527831077576f,0.3484981060028076f,-0.20593155920505524f},
+{0.465713769197464f,-0.0314447246491909f,0.37182438373565674f,0.17747963964939117f,0.1555200070142746f,0.3744701147079468f,-0.20339298248291016f,-0.026266949251294136f,0.053150542080402374f,0.19730983674526215f,0.3501185178756714f,-0.4578896164894104f,-0.07096643000841141f,0.2618309259414673f,0.26688337326049805f,-0.5354568362236023f},
+{-0.3268105983734131f,-0.5547944903373718f,-0.40320003032684326f,-0.07368944585323334f,0.2612398564815521f,0.3266845941543579f,0.1533789038658142f,0.43531128764152527f,0.2821544110774994f,0.3745996057987213f,-0.41238293051719666f,-0.004811814520508051f,0.1403537392616272f,0.42670777440071106f,0.10493969917297363f,-0.2970612049102783f},
+{-0.11511554569005966f,-0.32295113801956177f,0.19847965240478516f,0.07562864571809769f,0.36586135625839233f,0.6069848537445068f,-0.2404318004846573f,0.30581098794937134f,0.12592767179012299f,-0.09637930244207382f,-0.10718625038862228f,-0.4543705880641937f,0.087755486369133f,0.49440330266952515f,-0.22268100082874298f,-0.5939084887504578f},
+{-0.24353362619876862f,-0.2789507806301117f,0.4127817749977112f,-0.16874001920223236f,-0.22386763989925385f,0.18394902348518372f,-0.32001304626464844f,-0.0963941290974617f,0.10942889750003815f,-0.19161711633205414f,-0.1930801421403885f,-0.4847225546836853f,-0.31692221760749817f,0.5080113410949707f,0.0479682981967926f,-0.09465524554252625f},
+{-0.17512278258800507f,-0.020960146561264992f,0.20282304286956787f,-0.0233761016279459f,0.12035879492759705f,0.37307101488113403f,0.04202890396118164f,0.5567061305046082f,0.2300788313150406f,0.03218941390514374f,-0.2774921655654907f,-0.8006455302238464f,0.09942074865102768f,0.3809644877910614f,0.0668090283870697f,0.0029880795627832413f},
+{-0.35989144444465637f,-0.5169287323951721f,-0.40439701080322266f,-0.1849556714296341f,-0.37137365341186523f,0.2710115611553192f,-0.15568238496780396f,0.15403564274311066f,0.08060277253389359f,0.021582655608654022f,-0.4719354808330536f,-0.45429301261901855f,-0.2751978933811188f,0.6362813115119934f,-0.08245879411697388f,0.08794624358415604f},
+{0.056587278842926025f,-1.0231857299804688f,0.16706281900405884f,-0.004800055641680956f,0.18465039134025574f,-0.7123168110847473f,-0.041414469480514526f,-0.11065896600484848f,0.13636545836925507f,0.3620643615722656f,-0.3516637682914734f,0.034812912344932556f,0.10793129354715347f,1.7956241369247437f,0.29427415132522583f,-0.02242809534072876f},
 };
 
 const float h2[16][16] = { 
-    {-0.9383106231689453f,1.0831480026245117f,-0.06966331601142883f,0.5075902938842773f,-0.21907491981983185f,0.5885099768638611f,-0.12359052151441574f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-5.3258771896362305f,-0.16137951612472534f,-0.014296061359345913f,-1.4231160879135132f,-1.3216447830200195f,-0.4595727324485779f},
-{0.3241967260837555f,-1.081264615058899f,0.057057321071624756f,-0.4296506345272064f,-0.35503754019737244f,-1.109207272529602f,-0.5992633700370789f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.9289618730545044f,-0.7320427894592285f,0.21377265453338623f,2.6651933193206787f,0.3844112157821655f,-2.8005716800689697f},
+    {-3.079353094100952f,2.9523932933807373f,-0.06966331601142883f,0.7770768404006958f,-0.21907491981983185f,0.8435763120651245f,-7.13409948348999f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-4.711879730224609f,-0.160532608628273f,0.12968102097511292f,-4.521303653717041f,-2.8154895305633545f,-3.947878122329712f},
+{1.6069085597991943f,-1.4380403757095337f,0.057057321071624756f,-0.33994343876838684f,-0.35503754019737244f,-2.1135549545288086f,0.9560425281524658f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.6096528172492981f,-0.7201794385910034f,0.18671318888664246f,1.2456543445587158f,-4.5616865158081055f,-2.2581112384796143f},
 {-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},
-{0.019302673637866974f,-0.31937751173973083f,-0.2894435524940491f,0.3536301553249359f,0.08946844935417175f,0.2697038948535919f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.20959502458572388f,0.31786471605300903f,-0.5287175178527832f,-0.18776454031467438f,0.23656556010246277f,0.0696800947189331f},
-{-0.5404505729675293f,2.329841136932373f,-0.25313520431518555f,0.3359232246875763f,0.036378175020217896f,2.1661553382873535f,-0.715425431728363f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-2.4399101734161377f,-0.7516492605209351f,-0.025610558688640594f,-1.723425269126892f,-0.5844368934631348f,-3.8451337814331055f},
-{0.49694937467575073f,-1.0928959846496582f,-0.3519742488861084f,-0.05607288330793381f,-0.3015052080154419f,-0.10164236277341843f,-0.7031406164169312f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-2.426273822784424f,-0.3605239689350128f,-0.3332633078098297f,0.3884989321231842f,0.32065537571907043f,-3.0290184020996094f},
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+{-2.0744740962982178f,1.5641807317733765f,-0.25313520431518555f,0.4918033182621002f,0.036378175020217896f,0.9555962681770325f,-3.5064315795898438f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-6.867672920227051f,-0.828600287437439f,-0.04846766218543053f,0.7092092633247375f,-1.1995843648910522f,-2.7397921085357666f},
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 };
 
 const float h3[16][16] = { 
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 {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},
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+{-0.408692330121994f,-0.07053589820861816f,0.13857242465019226f,-0.023187458515167236f,0.04910629987716675f,-0.23528191447257996f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.42939332127571106f,-0.3257370591163635f,-0.23993435502052307f,0.20078614354133606f},
+{-0.2991822361946106f,0.27174821496009827f,0.008366292342543602f,0.02643418498337269f,0.17493976652622223f,0.1396961361169815f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.10724294185638428f,-0.22139659523963928f,0.258039653301239f,-0.052312638610601425f},
+{-0.2675279378890991f,0.24038922786712646f,0.2049354910850525f,2.7872984409332275f,-0.8632524609565735f,-0.16850513219833374f,-0.32875844836235046f,-0.4754209518432617f,0.052180804312229156f,-1.6792051792144775f,-0.7638967037200928f,-0.49397411942481995f,-0.3290387690067291f,-0.12789537012577057f,1.0773873329162598f,0.04880526289343834f},
+{-0.015470266342163086f,-0.6247103214263916f,-1.0075318813323975f,1.1620219945907593f,-2.7120962142944336f,0.9267382025718689f,0.05196094512939453f,-0.2782377302646637f,-1.2464749813079834f,-1.9464181661605835f,0.04823540523648262f,-0.11511552333831787f,-0.7712270021438599f,-1.5255231857299805f,-1.1359623670578003f,0.08394034206867218f},
+{0.1863725483417511f,1.0778512954711914f,-0.0502973273396492f,-12.645092964172363f,-3.1041295528411865f,2.0777485370635986f,0.04860696196556091f,0.4862489402294159f,0.049910467118024826f,-0.6289751529693604f,-0.38217246532440186f,0.08950693905353546f,0.6588118672370911f,2.404142379760742f,0.33257654309272766f,-0.05066022276878357f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.3668799102306366f,-0.13413715362548828f,-0.016836805269122124f,0.08971219509840012f,0.4475780427455902f,0.0030125975608825684f,0.15066689252853394f,-0.0630112737417221f,-0.06807868182659149f,0.21825642883777618f,-0.13003207743167877f,-0.49909707903862f,0.2512344419956207f,0.6037299036979675f,-0.14567755162715912f };
+const float hout[16] = { 0.45773375034332275f,0.20891045033931732f,-0.19229856133460999f,-0.24610121548175812f,-0.09112096577882767f,0.12801864743232727f,0.0030125975608825684f,-0.18999916315078735f,-0.09977942705154419f,0.2749788165092468f,0.07929548621177673f,-0.06773480772972107f,0.16691923141479492f,0.12430933117866516f,-0.047560084611177444f,-0.17298723757266998f };
 
-const float b1[16] = { 0.3099610209465027f,1.3175290822982788f,-1.7145336866378784f,0.23827297985553741f,1.7536879777908325f,1.1309794187545776f,-0.058932315558195114f,3.621431350708008f,1.4655077457427979f,-0.9159175157546997f,0.574961245059967f,1.2480543851852417f,-0.3789219558238983f,-0.948204517364502f,-1.087764859199524f,0.9895656108856201f };
+const float b1[16] = { 0.730632483959198f,1.272716999053955f,-1.7145336866378784f,0.3003542721271515f,1.1872128248214722f,1.3541868925094604f,-0.058932315558195114f,0.4758504033088684f,1.2076046466827393f,-0.7591546773910522f,0.5739685297012329f,1.3422513008117676f,-0.3753078579902649f,-1.472243070602417f,-1.087764859199524f,0.9388694167137146f };
 
-const float b2[16] = { -0.11788398772478104f,-1.093178153038025f,-1.4564176797866821f,-0.7737739086151123f,-0.6939148902893066f,0.0007033227011561394f,0.16136431694030762f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.5001667737960815f,0.3422625660896301f,-0.2033599615097046f,2.1852619647979736f,0.09860430657863617f,0.48487624526023865f };
+const float b2[16] = { 0.3055112361907959f,-0.05030367895960808f,-1.4564176797866821f,-0.7465900182723999f,-0.6939148902893066f,0.9134646058082581f,0.1163691058754921f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.5280559062957764f,0.27654141187667847f,-0.22942231595516205f,1.1037718057632446f,1.5560165643692017f,2.019695281982422f };
 
-const float b3[16] = { -1.963319182395935f,-0.22525213658809662f,-0.5830517411231995f,-0.12286757677793503f,-0.2395627647638321f,-0.07051343470811844f,-0.45353031158447266f,-0.6562485098838806f,0.47261902689933777f,0.013313661329448223f,-0.291460245847702f,-0.15192735195159912f,-0.1306169033050537f,0.5831792950630188f,-1.3271163702011108f,0.528087854385376f };
+const float b3[16] = { -1.963319182395935f,0.2238638550043106f,0.6590237021446228f,-3.380625009536743f,-0.09588757902383804f,-0.7721090912818909f,-0.45353031158447266f,-0.8271439671516418f,0.8048295378684998f,-0.1682782620191574f,-0.40919509530067444f,-0.3696589171886444f,-0.2763950526714325f,0.6793963313102722f,-1.6541359424591064f,0.38260194659233093f };
 
-const float bout[1] = { -0.18529483675956726f };
+const float bout[1] = { -0.1391761153936386f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;