Diff: main.cpp

Revision:

66:a8e6799dbce3

Parent:

65:a2d7c63419c2

Child:

67:c2812cf26c38

--- a/main.cpp	Tue Apr 14 01:07:30 2020 +0000
+++ b/main.cpp	Tue May 12 06:23:46 2020 +0000
@@ -183,998 +183,106 @@
   }
 }
 
-const float input[22] = { 0.052414f, 0.066907f, 0.085407f, 0.109023f,
-        0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f,
-        0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f,
-        0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f };
 
-const float h1[22][32] = { { -0.02454003319144249f, 0.13071660697460175f,
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-        0.26425138115882874f, -0.2566368877887726f }, };
+float x_future[num_input_array] = {0.0f};
+
+float input[num_input] = { 0.0f };
 
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-
+const float h1[num_input][32] = { 
+    {-0.05584605038166046f,-0.11015535145998001f,0.12024858593940735f,0.8710275292396545f,-0.8633008599281311f,0.6032636165618896f,0.1195044070482254f,-0.24131548404693604f,-0.2979300916194916f,-0.06240735203027725f,-0.5634293556213379f,-0.7795512080192566f,-0.2193688154220581f,0.5603419542312622f,-0.2396446317434311f,-0.5459810495376587f,-0.3129505217075348f,0.9516814351081848f,-0.4300021231174469f,0.32531049847602844f,-0.38013890385627747f,0.12145945429801941f,-0.3777896761894226f,-0.0899648368358612f,0.00471434835344553f,0.2086491882801056f,-0.2006681114435196f,-0.8217374086380005f,0.4176312983036041f,-0.21341653168201447f,-0.738452672958374f,0.09072920680046082f},
+{-0.8286606073379517f,0.34443455934524536f,0.33912619948387146f,-0.5367521047592163f,-0.2419569194316864f,0.11375948786735535f,0.7230488657951355f,-0.11622462421655655f,-0.06099450960755348f,0.14800310134887695f,-0.44429513812065125f,-0.15811024606227875f,0.024088174104690552f,0.37633487582206726f,0.05209478735923767f,-0.44525954127311707f,-0.35180044174194336f,0.31975269317626953f,0.4067309498786926f,0.42282143235206604f,-0.03516775369644165f,-0.13714641332626343f,-0.10795548558235168f,0.31470927596092224f,-0.34707048535346985f,0.3334867060184479f,0.14405718445777893f,-0.16725023090839386f,-0.10117192566394806f,0.11138620972633362f,-0.507462739944458f,0.11189708113670349f},
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 };
 
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-
+const float h2[32][32] = { 
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+{-0.16369810700416565f,0.002147972583770752f,-0.04321768879890442f,0.20987394452095032f,0.019099578261375427f,-0.04193764552474022f,-0.18412554264068604f,-0.1351664513349533f,0.24677053093910217f,0.048597872257232666f,0.17539569735527039f,0.12578506767749786f,0.20868071913719177f,-0.4673871099948883f,0.1197722852230072f,-0.020373206585645676f,0.056778669357299805f,-0.7362931370735168f,-0.2244773954153061f,0.26173046231269836f,0.07969770580530167f,0.10356134176254272f,-0.16832955181598663f,0.24518683552742004f,0.01879107765853405f,0.11049672961235046f,-0.022610308602452278f,0.2533881664276123f,-0.28620439767837524f,-0.0511949360370636f,0.14506122469902039f,-0.07415058463811874f},
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+{-0.04054148495197296f,-0.25281068682670593f,-0.10565309226512909f,-0.10217760503292084f,0.22124066948890686f,-0.016669882461428642f,0.13439533114433289f,-0.21625643968582153f,-0.06814777851104736f,-0.24531681835651398f,-0.10867110639810562f,0.11354860663414001f,-0.012470155954360962f,-0.04834315553307533f,0.2917248010635376f,0.28058484196662903f,0.2015441358089447f,0.05478575825691223f,0.21876852214336395f,0.013968605548143387f,0.1980237513780594f,-0.043646570295095444f,-0.2520882785320282f,0.2706727981567383f,0.23897342383861542f,0.01417838130146265f,0.21818359196186066f,-0.017171617597341537f,-0.18211489915847778f,-0.15127526223659515f,0.16965459287166595f,0.3860800564289093f},
+{-0.10580866038799286f,-0.17215237021446228f,-0.01352420449256897f,-0.13443149626255035f,-0.10265451669692993f,-0.2169143706560135f,0.30098411440849304f,-0.2986297905445099f,0.07908004522323608f,-0.30061498284339905f,0.10424068570137024f,-0.018799901008605957f,-0.18665757775306702f,0.005998075008392334f,-0.2969498336315155f,0.18525955080986023f,0.2379322350025177f,0.15184926986694336f,0.215760737657547f,-0.19088758528232574f,0.08620095252990723f,0.019999295473098755f,-0.0752219706773758f,0.11181813478469849f,0.1881926953792572f,0.2210972011089325f,0.13236162066459656f,-0.06690356135368347f,-0.18345263600349426f,-0.14861416816711426f,0.08577704429626465f,-0.09683996438980103f},
+{0.03951254487037659f,0.23604217171669006f,0.012746036052703857f,-0.12561996281147003f,-0.1283164620399475f,0.25823846459388733f,0.10610169172286987f,0.22718152403831482f,0.1749366819858551f,0.007794857025146484f,0.11289489269256592f,0.2725127637386322f,-0.13616766035556793f,-0.03546282649040222f,-0.1685536652803421f,-0.24492129683494568f,0.15760570764541626f,0.017505377531051636f,-0.273531436920166f,-0.005667984485626221f,0.18370777368545532f,-0.023328542709350586f,0.2379932701587677f,-0.048420339822769165f,0.10376441478729248f,-0.295401930809021f,-0.20498433709144592f,0.22346952557563782f,-0.26649031043052673f,-0.08466874063014984f,0.23347875475883484f,-0.03380200266838074f},
+{0.27614301443099976f,-0.11652402579784393f,0.24921879172325134f,0.16725529730319977f,-0.3529522716999054f,-0.22624388337135315f,-0.36159390211105347f,-0.13561266660690308f,0.23963233828544617f,0.21321198344230652f,-0.18729792535305023f,-0.0984758511185646f,-0.19942539930343628f,-0.2174971103668213f,0.14457453787326813f,-0.7122411727905273f,-0.19791248440742493f,0.17975574731826782f,-0.2993890345096588f,-0.2912631928920746f,-0.2584984302520752f,0.1050725057721138f,-0.09928475320339203f,-0.26327425241470337f,-0.5602705478668213f,0.3993833065032959f,0.024057770147919655f,-0.19004622101783752f,-0.03476092219352722f,0.2736774981021881f,-0.03050028160214424f,-0.3570877015590668f},
+{-0.17075178027153015f,0.009595632553100586f,0.2466227114200592f,0.05140487849712372f,-0.31388768553733826f,-0.30789920687675476f,-0.0075945379212498665f,-0.3187141418457031f,-0.2516406178474426f,0.012286126613616943f,0.2726706266403198f,-0.3966335654258728f,-0.13968390226364136f,-0.14732563495635986f,-0.0496971495449543f,-0.03776009753346443f,-0.24087269604206085f,0.06394801288843155f,-0.2768625319004059f,0.1040387749671936f,-0.19509759545326233f,-0.2569916546344757f,-0.031352698802948f,0.21324186027050018f,-0.19018572568893433f,-0.30967268347740173f,-0.23032434284687042f,0.1440102756023407f,-0.07090267539024353f,-0.23986908793449402f,-0.27214351296424866f,-0.22093108296394348f},
+{-0.01348048448562622f,0.08233943581581116f,0.18838337063789368f,0.21852442622184753f,-0.04740855097770691f,0.19177213311195374f,-0.0060100555419921875f,0.20933791995048523f,0.06356173753738403f,0.063028484582901f,0.09440034627914429f,0.29559019207954407f,-0.2545689642429352f,-0.09652335941791534f,-0.2841038703918457f,-0.03553757071495056f,0.02329021692276001f,-0.08720272779464722f,-0.0750999003648758f,-0.10468094050884247f,-0.03761094808578491f,-0.030853450298309326f,0.2112145721912384f,0.2599640190601349f,-0.2969062626361847f,-0.13667742908000946f,0.24173608422279358f,0.09566575288772583f,0.021116197109222412f,-0.005982398986816406f,-0.26417285203933716f,0.1879688799381256f},
+{-0.20768442749977112f,-0.17203155159950256f,0.0620841383934021f,-0.04785560816526413f,-0.09897751361131668f,-0.22745193541049957f,0.009043784812092781f,0.15261369943618774f,-0.21029016375541687f,0.2210421860218048f,-0.3253668248653412f,0.04599811136722565f,-0.16073621809482574f,-0.30910927057266235f,-0.3284757733345032f,-0.4673096537590027f,0.10771593451499939f,-0.3263266384601593f,-0.031224608421325684f,-0.2612304091453552f,0.12845292687416077f,-0.24405217170715332f,-0.22302524745464325f,0.10563395917415619f,-0.3808150887489319f,0.24485471844673157f,0.05545651540160179f,-0.16324345767498016f,0.17976179718971252f,-0.22928372025489807f,0.26136064529418945f,0.24002698063850403f},
+{-0.09888127446174622f,-0.22750279307365417f,-0.22503364086151123f,-0.008032619953155518f,-0.012498408555984497f,-0.24329537153244019f,-0.07913157343864441f,0.08175003528594971f,-0.016126900911331177f,0.06972584128379822f,0.06827792525291443f,0.2120952308177948f,-0.031845152378082275f,-0.30540701746940613f,0.18349257111549377f,0.20412376523017883f,-0.09216172993183136f,0.04617339372634888f,-0.09483018517494202f,-0.06833663582801819f,-0.026390254497528076f,-0.28567367792129517f,-0.06047184765338898f,-0.28923499584198f,0.01265987753868103f,-0.2029699683189392f,0.29187360405921936f,-0.2903735339641571f,-0.16326025128364563f,0.11664235591888428f,-0.02675291895866394f,0.1267804503440857f},
 };
 
-const float hout[32] = { 0.3285340666770935f, 0.2858171761035919f,
-        -0.36366742849349976f, -0.2632009983062744f, -0.25631460547447205f,
-        0.33468252420425415f, 0.002162247896194458f, 0.1081397533416748f,
-        -0.19566167891025543f, -0.007266071625053883f, 0.1744336485862732f,
-        -0.19491273164749146f, -0.16939763724803925f, 0.1573415994644165f,
-        0.2356991171836853f, -0.1462659239768982f, 0.09851181507110596f,
-        -0.21499931812286377f, -0.013007339090108871f, -0.26934152841567993f,
-        -0.10125408321619034f, 0.16949352622032166f, -0.2570975124835968f,
-        -0.21437735855579376f, 0.2278641164302826f, 0.2520971894264221f,
-        -0.38587644696235657f, -0.3990364372730255f, 0.24998146295547485f,
-        -0.3257754445075989f, -0.41329723596572876f, -0.26551106572151184f };
-
-const float b1[32] = { 0.6920363306999207f, 0.9509658217430115f,
-        -1.7145336866378784f, 0.4119643270969391f, 1.0741286277770996f,
-        0.8546265363693237f, -0.07467586547136307f, 0.93145751953125f,
-        0.5193935036659241f, -0.8871728777885437f, 0.593039333820343f,
-        1.6031073331832886f, -0.33494266867637634f, -0.8010779023170471f,
-        -1.087764859199524f, 1.1554406881332397f, 0.6632958650588989f,
-        -0.224932461977005f, 0.26702749729156494f, 0.5859951972961426f,
-        -0.31409698724746704f, -1.1118980646133423f, -1.6770726442337036f,
-        -1.2263047695159912f, 2.018333911895752f, -2.0880801677703857f,
-        -1.0489267110824585f, 0.7445360422134399f, 0.4031659960746765f,
-        -1.0887231826782227f, 1.5438745021820068f, -0.4563482999801636f };
+const float h3[32][32] = { 
+    {-0.2551194727420807f,-0.09101890027523041f,-0.039938222616910934f,-0.2297012358903885f,-0.04914749786257744f,-0.05839472636580467f,0.23563924431800842f,0.21467849612236023f,-0.14446713030338287f,0.034586966037750244f,-0.08393588662147522f,0.28293344378471375f,0.10058467835187912f,0.13426963984966278f,-0.2476848065853119f,0.13452908396720886f,0.033751994371414185f,0.2061004936695099f,0.004610735457390547f,-0.047270745038986206f,-0.06896747648715973f,-0.030367758125066757f,-0.1638459414243698f,0.044178664684295654f,0.1966625303030014f,-0.1258748173713684f,0.3543202579021454f,-0.16248615086078644f,0.08456003665924072f,0.2922307550907135f,-0.21407078206539154f,-0.119477279484272f},
+{0.05588451027870178f,0.19731858372688293f,-0.055143773555755615f,0.030042022466659546f,-0.13887283205986023f,-0.1361943781375885f,-0.2855546772480011f,0.011247634887695312f,0.1085631251335144f,0.021339505910873413f,0.17599248886108398f,0.09762296080589294f,-0.05771490931510925f,-0.14660483598709106f,-0.21469902992248535f,0.03876742720603943f,-0.21865856647491455f,-0.12651903927326202f,0.22753819823265076f,-0.23926785588264465f,-0.14443452656269073f,0.06739777326583862f,0.14157342910766602f,0.049514561891555786f,-0.1251431256532669f,-0.25851932168006897f,0.0932874083518982f,0.2900666892528534f,-0.023782014846801758f,0.050485759973526f,0.09447437524795532f,0.0058679282665252686f},
+{-0.2800689935684204f,-0.038760632276535034f,0.13974270224571228f,0.01585569977760315f,0.11945047974586487f,-0.19458696246147156f,0.11322265863418579f,0.25643888115882874f,-0.061097174882888794f,-0.07816044986248016f,-0.07445238530635834f,-0.22145158052444458f,-0.1081896424293518f,-0.09452249109745026f,0.16234496235847473f,0.1413259506225586f,-0.2648085951805115f,-0.054869145154953f,-0.05491623282432556f,0.17325228452682495f,0.23639705777168274f,0.0748760998249054f,-0.1324603259563446f,0.15828460454940796f,-0.22871175408363342f,-0.027338534593582153f,-0.06307074427604675f,0.13438841700553894f,0.13834497332572937f,0.1633671224117279f,0.259930282831192f,-0.21565306186676025f},
+{0.2906629145145416f,0.16674396395683289f,-0.2048129439353943f,0.24708573520183563f,0.09334155172109604f,-0.05046384781599045f,-0.061309605836868286f,-0.17915479838848114f,-0.030297284945845604f,-0.044261813163757324f,-0.09506386518478394f,0.24970653653144836f,0.140608549118042f,0.07934696972370148f,0.22106656432151794f,-0.23978039622306824f,-0.28915077447891235f,0.030949801206588745f,-0.28344714641571045f,0.17508044838905334f,0.23260188102722168f,-0.02717127837240696f,-0.18165703117847443f,-0.2539325952529907f,0.2068878710269928f,-0.11024686694145203f,-0.11684871464967728f,-0.008553821593523026f,-0.21804101765155792f,-0.25852420926094055f,0.05653107166290283f,-0.012144584208726883f},
+{0.07563930749893188f,-0.0864691436290741f,-0.25957009196281433f,0.14710086584091187f,-0.2755613625049591f,-0.0486634224653244f,-0.17751117050647736f,0.2470131814479828f,-0.3877350091934204f,-0.2740214169025421f,0.48606789112091064f,-0.24627932906150818f,-0.2334918975830078f,-0.08405673503875732f,0.06802645325660706f,-0.048776447772979736f,0.20131775736808777f,-0.017045116052031517f,0.1065007895231247f,0.1723131686449051f,-0.12130393087863922f,0.28655827045440674f,0.09938116371631622f,0.11342830955982208f,-0.12671566009521484f,0.12758469581604004f,0.2596653401851654f,-0.276505708694458f,0.17249789834022522f,-0.09959287941455841f,-0.07189898192882538f,-0.06464556604623795f},
+{0.10931676626205444f,0.2396949827671051f,0.12925085425376892f,-0.031216295436024666f,-0.11903928220272064f,0.11186975240707397f,-0.0620582215487957f,0.04091137647628784f,-0.0005325245438143611f,-0.15699732303619385f,0.08972057700157166f,-0.21529507637023926f,-0.028432423248887062f,-0.12350860238075256f,0.2971965968608856f,0.25175121426582336f,-0.2889891266822815f,-0.13035915791988373f,0.15943540632724762f,0.034403007477521896f,0.0786113515496254f,-0.2286425083875656f,-0.01647675596177578f,0.27409639954566956f,-0.11409469693899155f,-0.18302330374717712f,0.051028646528720856f,-0.008777839131653309f,-0.27729424834251404f,-0.29547566175460815f,-0.25800079107284546f,0.21303775906562805f},
+{-0.21155381202697754f,0.4169614017009735f,-0.149305060505867f,-0.13649512827396393f,-0.0040439944714307785f,0.16310036182403564f,-0.11482425779104233f,0.2226138561964035f,0.06895330548286438f,-1.709801435470581f,0.05974118411540985f,-0.25618287920951843f,-0.054692342877388f,-0.1533658504486084f,0.25543639063835144f,-0.1192857176065445f,-0.18917083740234375f,-0.019574562087655067f,-0.444706529378891f,-0.020779341459274292f,0.009562673978507519f,-0.11819368600845337f,0.05895781144499779f,-0.11636392772197723f,-0.2627762258052826f,-0.2910519242286682f,-0.22418221831321716f,-0.32023555040359497f,0.23576414585113525f,-0.09532724320888519f,0.26950082182884216f,0.11913502961397171f},
+{-0.01093912124633789f,-0.23583689332008362f,0.26154714822769165f,0.3012233376502991f,0.14452683925628662f,-0.3326735496520996f,0.036741942167282104f,-0.0059101879596710205f,-0.18442028760910034f,-0.27182313799858093f,0.09319102764129639f,-0.08139897882938385f,0.259794145822525f,-0.08187927305698395f,0.0685860812664032f,-0.29903873801231384f,0.1317853033542633f,0.20550194382667542f,-0.06596825271844864f,-0.2777772843837738f,0.30158787965774536f,0.055962659418582916f,0.09796766936779022f,0.131951704621315f,-0.030015112832188606f,0.23886635899543762f,-0.21418654918670654f,0.20126910507678986f,0.28547611832618713f,0.17161712050437927f,-0.017215043306350708f,0.0029450233560055494f},
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+{-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.03896602615714073f,-0.1559528261423111f,-0.14272382855415344f,-0.19175797700881958f,0.02903696894645691f,-0.21793057024478912f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.2574335038661957f,0.011410274542868137f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.12396217882633209f,-0.17956478893756866f,0.32670894265174866f,-0.021142370998859406f,-0.1977243274450302f,-0.025072306394577026f,0.1991090476512909f,-0.007939159870147705f,-0.15539970993995667f,0.19354887306690216f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.23252393305301666f},
+{0.07638216018676758f,0.10178792476654053f,-0.3632030189037323f,-0.235545814037323f,0.09491447359323502f,0.007485899608582258f,0.16700564324855804f,-0.25668495893478394f,0.026961220428347588f,0.30681201815605164f,0.036471329629421234f,0.02524423599243164f,-0.10277769714593887f,0.22266533970832825f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.042979199439287186f,0.38466188311576843f,0.28802499175071716f,0.25258976221084595f,-0.025679901242256165f,-0.13952423632144928f,-0.4421646296977997f,0.20129328966140747f,0.1901901364326477f,-0.14958564937114716f,-0.07797150313854218f,-1.3495779037475586f,0.22636333107948303f,-0.28991997241973877f,0.19003361463546753f},
+};
 
-const float b2[32] = { -0.10466054826974869f, -0.7642630338668823f,
-        -1.4564176797866821f, -0.528777003288269f, -0.7297643423080444f,
-        0.2625555098056793f, 0.389851450920105f, -0.33048292994499207f,
-        -1.20063054561615f, -1.912178635597229f, 0.31253743171691895f,
-        0.6883504390716553f, -0.04988760128617287f, 2.26581072807312f,
-        0.13501279056072235f, 1.132785677909851f, -1.8237234354019165f,
-        -1.5844906568527222f, 0.26375624537467957f, -0.23789723217487335f,
-        0.17283980548381805f, 0.3692796230316162f, 0.09335066378116608f,
-        -1.0231001377105713f, 1.2738454341888428f, 1.44853675365448f,
-        0.9071134924888611f, 8.9274239144288e-05f, -0.6323830485343933f,
-        -0.4208582937717438f, -1.1864360570907593f, -1.3916414976119995f };
+const float hout[32] = { 0.3285340666770935f,0.2312968373298645f,-0.1630605310201645f,-0.052534740418195724f,-0.10057443380355835f,0.2961001396179199f,0.017061835154891014f,0.10350137203931808f,-0.07044677436351776f,-0.6716802716255188f,0.1657922863960266f,-0.19491273164749146f,-0.09723297506570816f,0.11400538682937622f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.18661867082118988f,-0.20936886966228485f,-0.06724883615970612f,-0.012077437713742256f,0.13819065690040588f,-0.36261582374572754f,-0.1528124064207077f,0.21429504454135895f,0.2520971894264221f,-0.25227150321006775f,-0.31772324442863464f,0.180665984749794f,-0.3257754445075989f,-0.39810308814048767f,-0.2707440257072449f };
+
+const float b1[32] = { 0.41725802421569824f,0.677618682384491f,-1.7145336866378784f,0.4289698898792267f,1.0923852920532227f,0.6965276002883911f,-0.33025991916656494f,0.911361813545227f,0.5523963570594788f,-0.9239171743392944f,0.5504469275474548f,1.4532619714736938f,-0.3425353467464447f,-0.9522353410720825f,-1.087764859199524f,1.1365444660186768f,0.6634984612464905f,0.07243652641773224f,0.34714072942733765f,0.4831358790397644f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,1.5655348300933838f,-2.0880801677703857f,-1.0489267110824585f,0.6718418598175049f,0.3125588893890381f,-1.0887231826782227f,1.4772096872329712f,-0.44261544942855835f };
 
-const float b3[32] = { -1.963319182395935f, -0.4028509557247162f,
-        0.3184174597263336f, 0.1579766422510147f, 0.1897633820772171f,
-        0.866980791091919f, -0.45353031158447266f, -0.6562485098838806f,
-        0.5865635275840759f, 0.5033581852912903f, -0.14371006190776825f,
-        0.050810977816581726f, -0.5131177306175232f, 0.5688209533691406f,
-        -1.1428403854370117f, -0.3598397970199585f, -1.3594286441802979f,
-        -1.0192245244979858f, -0.2365882694721222f, 0.5294732451438904f,
-        1.530857801437378f, 1.2039998769760132f, -1.0573883056640625f,
-        -0.7962622046470642f, 0.7248114347457886f, -0.36519983410835266f,
-        -0.07752024382352829f, 0.767806887626648f, 0.2635451555252075f,
-        -2.3236680030822754f, 0.06150589883327484f, 1.0375205278396606f };
+const float b2[32] = { -0.1328246146440506f,-0.7642630338668823f,-1.4564176797866821f,-0.5193768739700317f,-0.770237147808075f,0.2291887253522873f,0.42305076122283936f,-0.330333411693573f,-1.200630784034729f,-1.912178635597229f,0.3195040225982666f,0.6411747336387634f,-0.12948329746723175f,2.127977132797241f,0.03474299982190132f,1.0651566982269287f,-1.798204779624939f,-1.6275829076766968f,0.24063049256801605f,-0.33282727003097534f,0.15034039318561554f,0.3341216742992401f,0.09335067123174667f,-1.0914796590805054f,1.1630909442901611f,1.3906062841415405f,0.9115413427352905f,-0.08930502086877823f,-0.6323830485343933f,-0.4208582937717438f,-1.2135889530181885f,-1.3041324615478516f };
 
-const float bout[1] = { -0.3124803602695465f };
+const float b3[32] = { -1.963319182395935f,-0.24137775599956512f,0.16939261555671692f,-0.010520849376916885f,0.16716189682483673f,0.8664999008178711f,-0.5060869455337524f,-0.675765335559845f,0.4948726296424866f,0.49107488989830017f,-0.3517422378063202f,0.050810977816581726f,-0.5689442157745361f,0.5305911302566528f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0502030849456787f,-0.22544679045677185f,0.391804963350296f,1.3067524433135986f,1.170665979385376f,-0.7901832461357117f,-0.7575708627700806f,0.7138406038284302f,-0.36519986391067505f,-0.0393984317779541f,0.7097650170326233f,0.27854597568511963f,-2.3236680030822754f,0.025814389809966087f,0.9480384588241577f };
+
+const float bout[1] = { -0.28343671560287476f };
 
 
 int main()
 {
-    //F401_init84 myinit(0);
-    //F401_init84 SystemClock_Config_84MHz_internal();
+
     HAL_Init();
     SystemClock_Config();
-    __HAL_RCC_SYSCFG_CLK_ENABLE();
-    __HAL_RCC_PWR_CLK_ENABLE();
-    HAL_IncTick();
     
     /*********************************
     ***     Initialization
@@ -1258,9 +366,10 @@
     ***     Program is operating!
     *************************************/
     while(1) {
-        //if(timer_while==1000 && OPERATING_MODE==5) {
-        if(timer_while==1000) {
+//        if(timer_while==1000 && OPERATING_MODE==5) {
+        //if(timer_while==1000) {
             //i2c
+            
             read_field(i2c_slave_addr1);
             if(DIR_VALVE_ENC < 0) value = 1023 - value;
             //            if(LED==1) {
@@ -1268,91 +377,74 @@
             //            } else
             //                LED = 1;
             timer_while = 0;
-        }
+        //}
+        
+        timer_while ++;
+        
+        
+        if(NN_Control_Flag == 1) {
+            float output1[32] = { 0.0f };
+            float output2[32] = { 0.0f };
+            float output3[32] = { 0.0f };
+            float output = 0.0f;
 
-        float output1[32] = { 0.0f };
-        float output2[32] = { 0.0f };
-        float output3[32] = { 0.0f };
-        float output = 0.0f;
+            
 
-        timer_while ++;
+            for (int index2 = 0; index2 < 32; index2++) {
+                for (int index1 = 0; index1 < 22; index1++) {
+                    output1[index2] = output1[index2]
+                                      + h1[index1][index2] * input[index1];
+                }
+                output1[index2] = output1[index2] + b1[index2];
+                if (output1[index2] < 0) {
+                    output1[index2] = 0;
+                }
+            }
 
-//        t.reset();
-//        t.start();
+            for (int index2 = 0; index2 < 32; index2++) {
+                for (int index1 = 0; index1 < 32; index1++) {
+                    output2[index2] = output2[index2]
+                                      + h2[index1][index2] * output1[index1];
+                }
+                output2[index2] = output2[index2] + b2[index2];
+                if (output2[index2] < 0) {
+                    output2[index2] = 0;
+                }
+            }
 
-        for (int index2 = 0; index2 < 32; index2++) {
-            for (int index1 = 0; index1 < 22; index1++) {
-                output1[index2] = output1[index2]
-                                  + h1[index1][index2] * input[index1];
+            for (int index2 = 0; index2 < 32; index2++) {
+                for (int index1 = 0; index1 < 32; index1++) {
+                    output3[index2] = output3[index2]
+                                      + h3[index1][index2] * output2[index1];
+                }
+                output3[index2] = output3[index2] + b3[index2];
+                if (output3[index2] < 0) {
+                    output3[index2] = 0;
+                }
             }
-            output1[index2] = output1[index2] + b1[index2];
-            if (output1[index2] < 0) {
-                output1[index2] = 0;
+
+            for (int index2 = 0; index2 < 1; index2++) {
+                for (int index1 = 0; index1 < 32; index1++) {
+                    output = output + hout[index2] * output3[index1];
+                }
+                output = output + bout[index2];
+                output = 1.0f/(1.0f+exp(-output));
+            }
+
+            output = output * 24000.0f - 12000.0f;
+            if(output>=0) {
+                valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
+            } else {
+                valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
             }
         }
-
-        for (int index2 = 0; index2 < 32; index2++) {
-            for (int index1 = 0; index1 < 32; index1++) {
-                output2[index2] = output2[index2]
-                                  + h2[index1][index2] * output1[index1];
-            }
-            output2[index2] = output2[index2] + b2[index2];
-            if (output2[index2] < 0) {
-                output2[index2] = 0;
-            }
-        }
-
-        for (int index2 = 0; index2 < 32; index2++) {
-            for (int index1 = 0; index1 < 32; index1++) {
-                output3[index2] = output3[index2]
-                                  + h3[index1][index2] * output2[index1];
-            }
-            output3[index2] = output3[index2] + b3[index2];
-            if (output3[index2] < 0) {
-                output3[index2] = 0;
-            }
-        }
-
-        for (int index2 = 0; index2 < 1; index2++) {
-            for (int index1 = 0; index1 < 32; index1++) {
-                output = output + hout[index2] * output3[index1];
-            }
-            output = output + bout[index2];
-            output = 1.0f/(1.0f+exp(-output));
-        }
         
-//        t.stop();
         
-        //printf("NNoutput : %f\n", NNoutput);
-        //printf("time : %f\n", t.read());
-        
-        //wait(1);
-        
-        //if(timer_while%10000==0)
         if(LED==1) {
              LED=0;
         } else
             LED = 1;
-            
-//        CAN_TX_PWM((int16_t) (t.read() * 1000000.0f)); //1500
-        
-//        PWM_out = NNoutput * 24000.0f - 12000.0f;
-//
-//
-//        if (PWM_out>0.0f) {
-//            dtc_v=0.0f;
-//            dtc_w=PWM_out;
-//        } else {
-//            dtc_v=-PWM_out;
-//            dtc_w=0.0f;
-//        }
-//
-//        //pwm
-//        TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
-//        TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
-        
-        
-        
+
     }
 }
 
@@ -2436,7 +1528,7 @@
 
                     VALVE_POS_CONTROL(valve_pos.ref);
 
-                    Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
+                    //Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
                     V_out = (float) Vout.ref;
 
                 }
@@ -2588,7 +1680,8 @@
 //                    t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
 //                } else {
 //                    t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
-//                }
+//                } 
+ 
                 if(OPERATING_MODE==5) {
                     t_value = (double) value;
                 } else if(CURRENT_CONTROL_MODE==1) {
@@ -2614,10 +1707,6 @@
                 //PWM
                 CAN_TX_PWM((int16_t) cur.sen); //1500
             }
-            if (flag_data_request[3] == LOW) {
-                //PWM
-                CAN_TX_PWM((int16_t) 79); //1500
-            }
             //for (i = 0; i < 10000; i++) {
 //                ;
 //            }