[Ver 1.0] The code was given by Seunghoon shin, used for hydraulic quadrupedal robot. Buyoun Cho will revise the code for Post-LIGHT (the robot name is not determined yet).

Dependencies:   mbed FastPWM

Revision:
86:b8ed7abddeb2
Parent:
85:a3b46118b5cd
Child:
87:471334725012
--- a/main.cpp	Sun Jul 12 06:25:51 2020 +0000
+++ b/main.cpp	Mon Jul 13 00:43:25 2020 +0000
@@ -1,4 +1,4 @@
-//200712-1
+//200713-1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -193,114 +193,104 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][32] = { 
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 };
 
 const float h2[32][32] = { 
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 };
 
 const float h3[32][32] = { 
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 };
 
-const float hout[32] = { 0.3285340666770935f,0.2529861629009247f,-0.02794448845088482f,-0.11024416238069534f,-0.014000286348164082f,0.5794768929481506f,-0.16548395156860352f,-0.02517510950565338f,0.8701211810112f,-0.1466466784477234f,1.4857077598571777f,0.11510539799928665f,-0.08165325224399567f,1.1056994199752808f,0.11580539494752884f,0.13693712651729584f,0.004584930371493101f,-0.21499931812286377f,-0.10640942305326462f,-0.12329035252332687f,-0.6041821241378784f,-0.5037342309951782f,-0.13192011415958405f,0.07643738389015198f,0.30652591586112976f,0.2520971894264221f,-0.14245828986167908f,0.4719190001487732f,0.017724622040987015f,-0.3257754445075989f,-0.215330570936203f,1.0069118738174438f };
+const float hout[32] = { 0.016861308366060257f,0.02745733968913555f,0.07825727015733719f,0.8766828179359436f,-0.05232406407594681f,0.35792431235313416f,1.570347547531128f,0.10329969972372055f,0.4806658923625946f,-0.062165163457393646f,0.15290232002735138f,0.09420708566904068f,-0.11127324402332306f,0.13416433334350586f,0.10202100872993469f,0.006314356345683336f,-0.003878760151565075f,-0.18621718883514404f,0.1323828548192978f,-0.10361719876527786f,-0.09726173430681229f,0.010512445122003555f,0.0036775292828679085f,-0.028018292039632797f,0.5220573544502258f,0.21163398027420044f,-0.3082039952278137f,0.26232731342315674f,0.8687447309494019f,-0.16385973989963531f,-0.09068699926137924f,0.10824593156576157f };
 
-const float b1[32] = { 0.4471018612384796f,0.8732520341873169f,-1.7145336866378784f,0.11060962080955505f,1.837284803390503f,1.007750391960144f,-0.06491786241531372f,0.8956719636917114f,2.6451375484466553f,-1.2619271278381348f,0.5940906405448914f,2.6766932010650635f,-0.3425353467464447f,-0.98967444896698f,-1.087764859199524f,0.33063894510269165f,-5.126280784606934f,-0.26377663016319275f,0.21976712346076965f,1.9539169073104858f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,6.089069843292236f,-2.0880801677703857f,-1.0489267110824585f,-0.5635794401168823f,0.5242202281951904f,-1.0887231826782227f,5.702357769012451f,-0.46849215030670166f };
+const float b1[32] = { 0.6189494729042053f,1.717569351196289f,-1.7145336866378784f,1.2212576866149902f,2.3427574634552f,0.7081863880157471f,-0.09428720921278f,0.3455063998699188f,0.6096851825714111f,-3.0868020057678223f,0.5562145113945007f,2.118533134460449f,-0.3425353467464447f,-0.940459668636322f,-1.087764859199524f,0.8448495864868164f,0.49272775650024414f,-0.26377663016319275f,1.244008183479309f,0.8255248665809631f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,4.908173561096191f,-2.0880801677703857f,-1.0489267110824585f,0.42044439911842346f,0.12164653092622757f,-1.0887231826782227f,2.485891342163086f,-0.4767896831035614f };
 
-const float b2[32] = { -0.37478387355804443f,-0.8822373747825623f,-1.610761046409607f,-0.5953555107116699f,-0.7830360531806946f,-0.23389804363250732f,1.5533720254898071f,-0.565883457660675f,-1.20063054561615f,-1.912178635597229f,-0.08753211051225662f,0.132071852684021f,-0.38167816400527954f,0.24978798627853394f,-0.21596388518810272f,-0.02125457674264908f,-1.9359937906265259f,-1.5844906568527222f,-0.12828677892684937f,-0.4470262825489044f,1.2603751420974731f,-0.08529075235128403f,-0.30154427886009216f,-1.1930168867111206f,1.6427350044250488f,-0.014808067120611668f,2.628875494003296f,-0.6658599376678467f,-0.6933333873748779f,-0.38596004247665405f,-1.3031682968139648f,-1.5120806694030762f };
+const float b2[32] = { -0.5226120352745056f,-0.7642630338668823f,-1.4564176797866821f,-0.4946267604827881f,-0.8452438116073608f,0.1087772473692894f,-0.6319846510887146f,-0.30969977378845215f,-0.8028555512428284f,-1.912178635597229f,-0.30677375197410583f,0.8741645812988281f,-0.17443345487117767f,0.93160480260849f,-4.624051570892334f,1.084857702255249f,-1.798204779624939f,-1.68979811668396f,-0.05761605501174927f,-0.3331492841243744f,-0.17662832140922546f,0.076245978474617f,0.09335066378116608f,-1.2434346675872803f,0.6772512793540955f,3.3463151454925537f,0.08881940692663193f,-0.19115522503852844f,-0.9640821814537048f,-0.5077025890350342f,-1.296404242515564f,-1.4682079553604126f };
 
-const float b3[32] = { -1.963319182395935f,-0.524648904800415f,-0.11971238255500793f,-2.6649246215820312f,-0.13388246297836304f,2.9242334365844727f,-0.6314579844474792f,-0.8082239031791687f,-0.21274924278259277f,-0.04028291255235672f,-0.5043213963508606f,-0.35809093713760376f,-0.8338872790336609f,1.2783610820770264f,-1.3000545501708984f,0.9831259846687317f,-1.493859052658081f,-1.0192245244979858f,-0.5513612031936646f,-0.1602744311094284f,0.28453513979911804f,1.1440303325653076f,-1.1831269264221191f,-1.1371890306472778f,-0.025017697364091873f,-0.36519983410835266f,-0.5132201910018921f,2.1017091274261475f,0.1228194534778595f,-2.3236680030822754f,-0.27946344017982483f,-0.06861314922571182f };
+const float b3[32] = { -2.1200947761535645f,-0.6417744755744934f,-0.20833487808704376f,-0.4100790023803711f,-2.229132890701294f,0.2740940451622009f,-0.2966175079345703f,-0.737217366695404f,1.8642381429672241f,0.08214375376701355f,-0.47954219579696655f,-0.2409215271472931f,2.223055839538574f,0.04726779833436012f,-1.2977863550186157f,-0.5223850607872009f,-1.4806815385818481f,-1.1570241451263428f,-0.461347371339798f,-0.14962559938430786f,0.9796155095100403f,0.42978283762931824f,-1.2275103330612183f,-1.0708273649215698f,0.8111138343811035f,-0.5128193497657776f,-0.31590235233306885f,0.1044965386390686f,-0.028853775933384895f,-2.4177253246307373f,-0.28963881731033325f,0.25216880440711975f };
 
-const float bout[1] = { 0.33465152978897095f };
+const float bout[1] = { -0.1287642866373062f };
 
 
 int main()