Diff: main.cpp

Revision:

202:0904bcfba906

Parent:

201:bf9b39a894df

Child:

203:af08624e14f1

--- a/main.cpp	Mon Dec 21 01:27:57 2020 +0000
+++ b/main.cpp	Mon Dec 21 01:48:05 2020 +0000
@@ -1,4 +1,4 @@
-//201221_1
+//201221_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] = {
-    {-2.05708909034729f,3.186411142349243f,0.12903714179992676f,1.1522443294525146f,-4.77985954284668f,4.988513469696045f,-0.17472904920578003f,-0.7710135579109192f,-1.6287260055541992f,-4.90599250793457f,-0.1063576489686966f,-2.722536325454712f,-3.285773992538452f,-1.8041954040527344f,-0.2571594715118408f,-0.19243751466274261f},
-{-0.5134673714637756f,0.850974977016449f,-0.3927857577800751f,-0.35398679971694946f,-1.7932156324386597f,2.4975759983062744f,-0.4054011106491089f,-0.1427018940448761f,-0.8026003837585449f,-1.3023022413253784f,-0.6186515688896179f,-0.6010700464248657f,-0.52750563621521f,-1.032634973526001f,-0.20967772603034973f,0.07275804877281189f},
-{-0.066841721534729f,-0.7892441749572754f,0.36391180753707886f,-1.1049953699111938f,0.8302334547042847f,0.145523339509964f,0.2872133255004883f,-0.23196928203105927f,-0.8545001149177551f,1.5305473804473877f,-1.3627126216888428f,1.4795163869857788f,0.9375577569007874f,0.6764299273490906f,0.05590221285820007f,0.4362540543079376f},
-{0.4236474335193634f,-1.4789464473724365f,0.39742106199264526f,-0.9245060086250305f,1.6349233388900757f,-1.8302228450775146f,-0.11584559082984924f,-1.033275842666626f,-0.2314160317182541f,2.3230981826782227f,-1.3284986019134521f,2.215522050857544f,0.9562681913375854f,1.3459151983261108f,-0.2961459457874298f,1.4592657089233398f},
-{2.2037711143493652f,-2.3931355476379395f,-0.0051451027393341064f,-1.6210885047912598f,4.003640651702881f,-3.840949773788452f,0.1294034719467163f,-0.8414157629013062f,1.5438644886016846f,3.9199259281158447f,-0.8511825799942017f,2.865309000015259f,1.4463257789611816f,2.064455032348633f,-0.3865056037902832f,0.3730478286743164f},
-{-0.11275540292263031f,0.9484487175941467f,0.21773302555084229f,2.8727660179138184f,-0.1065288633108139f,-1.7705634832382202f,0.16514194011688232f,3.2009992599487305f,2.407309055328369f,-1.1651065349578857f,4.242412567138672f,-3.063631534576416f,0.47985541820526123f,-1.2354117631912231f,-0.4132833778858185f,-2.181981086730957f},
-{-0.09938614070415497f,3.5773942470550537f,-0.2501986622810364f,-0.13928787410259247f,-0.037008676677942276f,-0.03511349856853485f,0.06014183163642883f,-0.4759536683559418f,-0.06337887793779373f,0.14054207503795624f,-0.42060503363609314f,0.19486430287361145f,-4.041183948516846f,4.967502117156982f,-0.15618428587913513f,-0.5009685754776001f},
-{-6.928924560546875f,0.6427025198936462f,-0.26619744300842285f,3.9012463092803955f,-2.184589385986328f,-3.624392509460449f,-0.17925891280174255f,-2.07382869720459f,0.13725543022155762f,-0.8136168122291565f,4.00950813293457f,-1.4740347862243652f,-1.433410406112671f,0.022372480481863022f,0.04303058981895447f,-1.781483769416809f},
-{3.6579532623291016f,-3.307387590408325f,0.10248100757598877f,-2.6607558727264404f,0.5396132469177246f,0.6482411623001099f,-0.07246989011764526f,-7.981725215911865f,-3.1790192127227783f,1.7948887348175049f,-7.444221019744873f,3.593710422515869f,4.345944404602051f,0.9924588799476624f,-0.30555272102355957f,2.0975594520568848f},
-{-3.400193214416504f,2.0092344284057617f,0.18462657928466797f,-6.360235214233398f,1.7909657955169678f,-0.017668945714831352f,-0.2990540862083435f,3.4985127449035645f,6.280633926391602f,-0.7703721523284912f,0.5939630270004272f,-5.173768520355225f,3.7344818115234375f,2.7632744312286377f,0.3484981060028076f,0.9411026239395142f},
-{1.6706088781356812f,-0.5848070383071899f,0.37182438373565674f,3.818086862564087f,-0.6287387013435364f,-0.04289967194199562f,-0.20339298248291016f,2.0016133785247803f,-6.318286418914795f,0.41212618350982666f,3.4429900646209717f,-0.8561667799949646f,-0.6144111752510071f,-0.15154114365577698f,0.26688337326049805f,-7.914551734924316f},
-{3.817580223083496f,-0.9478880167007446f,-0.40320003032684326f,1.9463788270950317f,-1.1352602243423462f,-1.0062247514724731f,0.1533789038658142f,0.31628814339637756f,1.0758967399597168f,0.20902790129184723f,0.8699947595596313f,0.035382118076086044f,0.4103728234767914f,0.7292467355728149f,0.10493969917297363f,5.7628936767578125f},
-{-1.4826020002365112f,-0.017168715596199036f,0.19847965240478516f,0.5530301928520203f,0.8296269774436951f,1.094685673713684f,-0.2404318004846573f,0.2031107395887375f,1.0775611400604248f,-0.36457428336143494f,-0.08059465140104294f,1.811431884765625f,0.13296887278556824f,0.5637132525444031f,-0.22268100082874298f,0.9920644164085388f},
-{0.10934057831764221f,0.29417213797569275f,0.4127817749977112f,-0.2295745611190796f,-0.06648509204387665f,-0.335322767496109f,-0.32001304626464844f,-0.08723939955234528f,-0.1633664220571518f,0.024810004979372025f,-0.3360883295536041f,-0.1956489086151123f,0.2085038125514984f,-0.11261153966188431f,0.0479682981967926f,-0.34844690561294556f},
-{-0.4475245475769043f,-0.06329675763845444f,0.20282304286956787f,-0.29542261362075806f,-0.06878867000341415f,0.18237599730491638f,0.04202890396118164f,-0.21386225521564484f,0.18389460444450378f,0.07724341750144958f,0.59593266248703f,0.02376031130552292f,-0.23211097717285156f,-0.027928775176405907f,0.0668090283870697f,-0.1131569892168045f},
-{-0.05932091549038887f,0.024183889850974083f,-0.40439701080322266f,0.06835188716650009f,-0.0013422847259789705f,0.07840344309806824f,-0.15568238496780396f,0.09824986755847931f,0.09857259690761566f,0.001587049220688641f,-0.2749989628791809f,0.4360615015029907f,0.08637247234582901f,0.11287035793066025f,-0.08245879411697388f,-0.26716044545173645f},
-{0.03818594291806221f,-0.09347709268331528f,0.16706281900405884f,-0.0405823290348053f,0.07498817145824432f,-0.062178123742341995f,-0.041414469480514526f,-0.042331963777542114f,-0.3425905108451843f,-0.09295454621315002f,0.13697385787963867f,-0.357461154460907f,-0.01628359965980053f,0.0008555047679692507f,0.29427415132522583f,0.11630304902791977f},
+    {-2.8875832557678223f,-4.350209712982178f,0.12903714179992676f,1.3009741306304932f,-5.5373029708862305f,4.660557746887207f,-0.2791702151298523f,-1.9673373699188232f,-0.7876915335655212f,-0.0838925912976265f,2.056579351425171f,-0.4775930643081665f,-1.0840169191360474f,1.8268940448760986f,-0.2571594715118408f,2.9264285564422607f},
+{-1.3164054155349731f,-1.0876696109771729f,-0.3927857577800751f,-0.17620158195495605f,-2.255859851837158f,1.8839436769485474f,-0.5099403262138367f,-0.14369310438632965f,-0.13448645174503326f,0.15958870947360992f,0.15939955413341522f,-0.42307791113853455f,0.20936834812164307f,1.267188310623169f,-0.20967772603034973f,0.9964867830276489f},
+{0.06387539207935333f,1.4797385931015015f,0.36391180753707886f,-2.035085678100586f,0.8221196532249451f,-0.5720292329788208f,0.1825331747531891f,1.1346113681793213f,-0.003860754193738103f,0.1558271050453186f,-1.7455146312713623f,1.0800236463546753f,0.07024586945772171f,1.8495509624481201f,0.05590221285820007f,-0.37971919775009155f},
+{0.9885547161102295f,1.5857746601104736f,0.39742106199264526f,-1.2683287858963013f,2.0560503005981445f,-2.5400471687316895f,-0.22064009308815002f,0.8703923225402832f,0.13546788692474365f,0.2843056321144104f,-2.2105302810668945f,2.5788559913635254f,0.5550571084022522f,1.794255256652832f,-0.2961459457874298f,0.2030809372663498f},
+{2.200376272201538f,3.6978235244750977f,-0.0051451027393341064f,-1.942883849143982f,4.397477149963379f,-3.9836559295654297f,0.02445490099489689f,0.9118081331253052f,0.5158184766769409f,0.09270843863487244f,-2.1270408630371094f,1.882066249847412f,1.7573285102844238f,1.8979692459106445f,-0.3865056037902832f,-1.4143869876861572f},
+{0.8054906129837036f,-1.1853986978530884f,0.21773302555084229f,4.188623905181885f,0.5909639000892639f,0.6981121897697449f,0.05976053699851036f,-0.7846987247467041f,0.20079123973846436f,0.09867625683546066f,3.799494981765747f,-4.499797344207764f,-1.4829895496368408f,1.8938766717910767f,-0.4132833778858185f,-2.2401516437530518f},
+{-1.5190078020095825f,1.271410584449768f,-0.2501986622810364f,-0.5451289415359497f,-0.8939541578292847f,2.742082357406616f,0.12410038709640503f,-6.818014144897461f,-0.9918410181999207f,0.19527918100357056f,0.35870087146759033f,0.15415209531784058f,2.906383991241455f,-2.109793186187744f,-0.15618428587913513f,1.2686793804168701f},
+{2.2960519790649414f,-5.624841690063477f,-0.26619744300842285f,6.079721927642822f,-0.3825916051864624f,-1.792807936668396f,-0.0939173549413681f,-2.491455316543579f,-0.6362387537956238f,0.12280473113059998f,0.6536430716514587f,0.5521262884140015f,-5.004723072052002f,0.6268825531005859f,0.04303058981895447f,-0.4301891326904297f},
+{-1.9210988283157349f,2.5509939193725586f,0.10248100757598877f,-5.90464448928833f,0.7159120440483093f,-1.6442101001739502f,0.016528913751244545f,2.481851816177368f,2.635460138320923f,0.23555311560630798f,-5.085883617401123f,5.884235382080078f,1.514432668685913f,1.8693565130233765f,-0.30555272102355957f,1.5611883401870728f},
+{-1.0942480564117432f,-0.3101767897605896f,0.18462657928466797f,0.9410581588745117f,0.9320352673530579f,0.9933137893676758f,-0.18479645252227783f,0.6708211302757263f,-9.016300201416016f,-0.470211923122406f,-2.011240005493164f,-5.41322660446167f,6.036438465118408f,0.33657756447792053f,0.3484981060028076f,-6.891803741455078f},
+{2.937290906906128f,0.6232564449310303f,0.37182438373565674f,-0.4780430793762207f,-0.44739291071891785f,0.03720070421695709f,-0.0787377655506134f,0.17832960188388824f,5.983466148376465f,0.11380341649055481f,1.1910761594772339f,-1.6104626655578613f,-4.83803129196167f,-1.6345070600509644f,0.26688337326049805f,-0.5359570384025574f},
+{-6.720205783843994f,-0.6497623324394226f,-0.40320003032684326f,0.41325268149375916f,0.006919620092958212f,-1.219043493270874f,0.2721494436264038f,-0.07717830687761307f,3.101379871368408f,0.2537602186203003f,-0.615500807762146f,0.01843559928238392f,0.1453823447227478f,0.982496440410614f,0.10493969917297363f,-0.4359149634838104f},
+{4.940186023712158f,0.7198941111564636f,0.19847965240478516f,-0.4888766407966614f,-0.09065083414316177f,0.8704018592834473f,-0.1270318329334259f,0.3633882701396942f,-1.3489848375320435f,-0.18985214829444885f,0.7454805374145508f,0.3823730945587158f,-0.5087627172470093f,-0.48880240321159363f,-0.22268100082874298f,-0.08843398094177246f},
+{0.4864242672920227f,-0.15097640454769135f,0.4127817749977112f,0.0952228382229805f,0.07362950593233109f,0.036899350583553314f,-0.2119545042514801f,0.08390690386295319f,-0.38798388838768005f,-0.27188432216644287f,-0.08493571728467941f,0.21780912578105927f,0.009478157386183739f,0.10886811465024948f,0.0479682981967926f,0.13055111467838287f},
+{-0.012235446833074093f,-0.03355827555060387f,0.20282304286956787f,-0.08159107714891434f,-0.06526221334934235f,-0.13693425059318542f,0.14649520814418793f,-0.07531850039958954f,-0.1413915604352951f,0.07060986757278442f,0.3432573974132538f,-0.004140541423112154f,-0.037513576447963715f,-0.03986420854926109f,0.0668090283870697f,-0.5698944926261902f},
+{0.23839494585990906f,0.07325071841478348f,-0.40439701080322266f,0.0340188704431057f,0.00972110778093338f,0.11873780190944672f,-0.07882561534643173f,0.016021758317947388f,0.09228052198886871f,-0.05464116111397743f,-0.4035855829715729f,-0.24956804513931274f,0.04276733100414276f,-0.0030749565921723843f,-0.08245879411697388f,0.43922269344329834f},
+{-0.04308110848069191f,-0.07083477079868317f,0.16706281900405884f,-0.06309511512517929f,-0.020646482706069946f,0.039493441581726074f,0.036811769008636475f,0.032462093979120255f,-0.08154328912496567f,0.06734776496887207f,0.11448533833026886f,0.2630153298377991f,0.03378905728459358f,-0.41661781072616577f,0.29427415132522583f,-0.28257623314857483f},
 };
 
 const float h2[16][16] = {
-    {-0.8341764807701111f,-0.6067641377449036f,-0.06966331601142883f,1.6620731353759766f,-0.21907491981983185f,2.0616698265075684f,0.0655006542801857f,0.0446651317179203f,-0.43008196353912354f,-0.2518785297870636f,0.6948223114013672f,-2.2983310222625732f,-0.02717401273548603f,-0.07109256088733673f,0.4075045883655548f,-0.1310095340013504f},
-{-0.13943351805210114f,-0.04559600353240967f,0.057057321071624756f,-0.44137006998062134f,-0.35503754019737244f,-0.44499722123146057f,-0.667557954788208f,-0.3348168432712555f,-0.33757925033569336f,0.13575440645217896f,-0.43612033128738403f,-1.6604005098342896f,0.17714782059192657f,0.7811383008956909f,-1.3742358684539795f,-0.14819425344467163f},
+    {0.9428154826164246f,-0.4034293293952942f,-0.11485647410154343f,-0.19507192075252533f,-0.2671462893486023f,0.15469145774841309f,0.146681010723114f,-0.022342750802636147f,-0.43008196353912354f,-0.1415480375289917f,0.3487269878387451f,-0.668704628944397f,0.16619765758514404f,-1.3442575931549072f,-0.061026427894830704f,-0.42945870757102966f},
+{-1.1851710081100464f,-0.8065184354782104f,-0.057083431631326675f,0.055910319089889526f,-0.5261906981468201f,0.49529847502708435f,-0.4701302647590637f,-0.4165448248386383f,-0.33757925033569336f,0.2895788848400116f,-3.190351724624634f,-1.1698005199432373f,0.08797383308410645f,-0.1908920258283615f,-1.014574408531189f,2.1579911708831787f},
 {-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},
-{0.923111617565155f,-0.3925030529499054f,-0.2894435524940491f,-4.214643478393555f,0.08946844935417175f,0.9371825456619263f,-0.5534926652908325f,0.21740393340587616f,0.26211628317832947f,0.2953031361103058f,-0.9797146916389465f,-4.698434829711914f,-0.4869251847267151f,0.023502085357904434f,0.70460444688797f,0.20284660160541534f},
-{1.7112555503845215f,2.3695321083068848f,-0.25313520431518555f,3.203413248062134f,0.036378175020217896f,0.8077892065048218f,-0.4755769968032837f,-0.13222959637641907f,-0.024399548768997192f,-0.39465832710266113f,-1.177101492881775f,1.6098895072937012f,-0.18945904076099396f,-2.4381227493286133f,-1.0014407634735107f,1.9238423109054565f},
-{0.02399083785712719f,2.2467095851898193f,-0.3519742488861084f,3.362551689147949f,-0.3015052080154419f,0.30396854877471924f,-0.6611042618751526f,-0.06323602795600891f,-0.23047015070915222f,0.225139781832695f,2.7001774311065674f,-4.270605564117432f,-0.39870911836624146f,3.4690911769866943f,2.8700716495513916f,-1.0183147192001343f},
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-{0.3770306408405304f,0.7105547785758972f,0.33083590865135193f,-0.636288583278656f,-0.14358049631118774f,-1.2429746389389038f,-0.33660444617271423f,-0.3461519777774811f,0.2600560486316681f,-0.37898191809654236f,-2.322720766067505f,1.0403022766113281f,-0.44419312477111816f,0.12145557999610901f,0.8076303005218506f,0.25913602113723755f},
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 };
 
 const float h3[16][16] = {
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-{-0.2675279378890991f,0.6203365921974182f,1.4428101778030396f,-0.3342827558517456f,0.2550843358039856f,-1.0007736682891846f,-0.5266007781028748f,-0.6508864164352417f,-0.9974082112312317f,-0.8438001871109009f,-0.6930839419364929f,-0.4682348966598511f,1.0650571584701538f,-0.4838383197784424f,0.46341273188591003f,0.5192927122116089f},
-{-0.015470266342163086f,-1.8956760168075562f,-0.08410447835922241f,-6.254400730133057f,-1.7777941226959229f,0.2078683078289032f,0.05196094512939453f,-0.18505549430847168f,-10.860576629638672f,-0.5114141702651978f,-0.03054753504693508f,-4.667637348175049f,-0.8007304072380066f,-0.11897039413452148f,-0.8937392830848694f,-1.3230712413787842f},
-{0.1863725483417511f,1.2183045148849487f,0.40503326058387756f,-0.4035680592060089f,1.890458345413208f,-0.33654242753982544f,0.04860696196556091f,0.12026743590831757f,-1.4774972200393677f,-0.03228182718157768f,-0.3252358138561249f,0.811850368976593f,1.4008933305740356f,-0.25755757093429565f,2.1992106437683105f,1.1227765083312988f},
+{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},
+{0.15459725260734558f,0.2538430094718933f,-0.25508931279182434f,-1.5075175762176514f,-1.3737651109695435f,-1.041282296180725f,-0.2901548743247986f,-0.11633022129535675f,-0.42871835827827454f,-0.9650903940200806f,-0.2687024474143982f,-0.6779088377952576f,0.6616833209991455f,0.16068346798419952f,-0.5106307864189148f,0.19549410045146942f},
+{-0.408692330121994f,-0.6946343183517456f,-0.5704450011253357f,0.5660575032234192f,0.7168378829956055f,0.12457764148712158f,0.03285527229309082f,0.11867466568946838f,-0.9052098989486694f,0.18084022402763367f,-0.19099384546279907f,-0.2785060703754425f,0.46407806873321533f,-0.3940125107765198f,-0.14606210589408875f,0.7810445427894592f},
+{-0.2991822361946106f,0.11518840491771698f,0.11643370240926743f,-0.05932474136352539f,0.026792805641889572f,0.15063521265983582f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.4114806652069092f,-0.044228196144104004f,-0.36229726672172546f,0.048441652208566666f,-0.3693793714046478f,0.05962720885872841f,-0.16869547963142395f},
+{-0.2675279378890991f,0.6963508129119873f,-2.938326597213745f,0.8145079016685486f,0.8959422707557678f,0.5264543294906616f,-0.32875844836235046f,-0.3670485019683838f,-0.5652082562446594f,-0.6467400789260864f,-0.6233183741569519f,-0.7216229438781738f,-0.24661146104335785f,-0.525417149066925f,1.0935742855072021f,0.451677531003952f},
+{-0.015470266342163086f,-0.8809381127357483f,0.7899576425552368f,2.4128308296203613f,0.8532193899154663f,-0.19236573576927185f,-0.05027467757463455f,-0.18992282450199127f,-0.3871394097805023f,0.7472769021987915f,-0.07508648931980133f,-0.06139330193400383f,-1.0190234184265137f,0.6735999584197998f,-0.5839648246765137f,0.16751737892627716f},
+{0.1863725483417511f,-0.49568605422973633f,-0.22101908922195435f,-2.304025173187256f,-0.5388448238372803f,0.8554566502571106f,0.04860696196556091f,-0.0032099848613142967f,-0.21743838489055634f,0.2737424671649933f,-0.6162844300270081f,-0.04213862866163254f,-0.1695404350757599f,1.100796103477478f,0.4078496992588043f,-3.8519089221954346f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.10733845829963684f,-0.13171051442623138f,-0.08234205096960068f,-0.10416366159915924f,0.1268671751022339f,-0.05339581519365311f,0.08802822232246399f,-0.051159054040908813f,0.00122738815844059f,0.030993694439530373f,0.08779297769069672f,-0.08789035677909851f,-0.08475720137357712f,0.11542049050331116f,-0.1343373954296112f };
-
-const float b1[16] = { 1.5671610832214355f,-0.6650322079658508f,-1.7145336866378784f,-0.13631387054920197f,0.809053897857666f,1.7169852256774902f,-0.058932315558195114f,2.673710584640503f,0.8016091585159302f,-0.2220122516155243f,-0.3671777844429016f,1.3159983158111572f,-0.9628874659538269f,-4.3406147956848145f,-1.087764859199524f,0.49714064598083496f };
-
-const float b2[16] = { 0.028378725051879883f,-1.541205883026123f,-1.4564176797866821f,-0.4409101605415344f,-0.6939148902893066f,-0.4014190435409546f,0.10122966021299362f,-0.5010198950767517f,-1.20063054561615f,-2.055778741836548f,1.1678540706634521f,-0.6804684996604919f,-0.415097177028656f,2.260073184967041f,1.3790706396102905f,1.498458743095398f };
-
-const float b3[16] = { -1.963319182395935f,-1.167460322380066f,-2.419935703277588f,1.7481459379196167f,-1.9929835796356201f,1.982991337776184f,-0.6213743686676025f,-1.0484195947647095f,-0.2641257643699646f,-0.0314469188451767f,-0.5554727911949158f,0.33601483702659607f,-2.5726656913757324f,-0.1076522171497345f,-3.430584192276001f,-1.4368791580200195f };
-
-const float bout[1] = { -0.10351773351430893f };
+const float hout[16] = { 0.45773375034332275f,0.11574485898017883f,-0.3037739098072052f,-0.19474096596240997f,-0.1200871467590332f,-0.11622349917888641f,-0.07468466460704803f,0.09362415969371796f,-0.07397104799747467f,0.09130262583494186f,0.05779830738902092f,0.07116646319627762f,-0.08413040637969971f,0.12060045450925827f,0.11304429173469543f,-0.12182606011629105f };
+
+const float b1[16] = { 0.22641848027706146f,0.8754384517669678f,-1.7145336866378784f,0.06222753971815109f,0.3592431843280792f,0.3334251940250397f,-0.1643390953540802f,2.96201229095459f,0.3914264440536499f,-0.9038287997245789f,2.6884043216705322f,0.43134915828704834f,-0.1645440310239792f,-9.140918731689453f,-1.087764859199524f,3.1388704776763916f };
+
+const float b2[16] = { 0.3475134074687958f,0.010023517534136772f,-1.5867693424224854f,0.6930003762245178f,-0.8746239542961121f,0.01831265538930893f,0.10687939822673798f,-0.4624027609825134f,-1.20063054561615f,-1.912178635597229f,1.338448166847229f,1.5667105913162231f,-0.31682881712913513f,1.4646944999694824f,2.1168222427368164f,0.529628336429596f };
+
+const float b3[16] = { -1.963319182395935f,0.6983416676521301f,-3.1063830852508545f,-5.120163440704346f,-1.6882061958312988f,-1.0116599798202515f,-0.6721124053001404f,-1.0684020519256592f,-0.06659629195928574f,1.1856689453125f,-0.6569923758506775f,-0.47514140605926514f,0.16819599270820618f,-1.1058062314987183f,-1.684031367301941f,-1.2996470928192139f };
+
+const float bout[1] = { -0.11064120382070541f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };
@@ -1037,8 +1037,8 @@
             input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
             ind = ind + 1;
             for(int i=0; i<numfuture_f; i++) {
-                input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
-//                input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
+//                input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
+                input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
                 ind = ind + 1;
             }