[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:
80:cfc7eabde63a
Parent:
79:e90681c26e5d
Child:
81:49a733a3eb9e
--- a/main.cpp	Wed Jun 10 04:21:10 2020 +0000
+++ b/main.cpp	Thu Jun 11 00:37:13 2020 +0000
@@ -1,4 +1,4 @@
-//200610-2
+//200611-1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -192,104 +192,104 @@
 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,0.23419079184532166f,0.022653264924883842f,0.4650540053844452f,-0.07773355394601822f,0.2799583077430725f,-0.029328495264053345f,0.1081397533416748f,-0.07481793314218521f,-0.22624342143535614f,0.20940087735652924f,-0.06869687885046005f,0.24208824336528778f,-0.48727527260780334f,0.2356991171836853f,0.002891196170821786f,0.09851181507110596f,-0.21499931812286377f,-0.11775032430887222f,0.17530855536460876f,0.09628693014383316f,0.19215719401836395f,-0.2340644896030426f,-0.15774047374725342f,-0.43513068556785583f,0.2520971894264221f,-0.340319961309433f,-0.1874096840620041f,-0.012158745899796486f,-0.3257754445075989f,-0.27221155166625977f,-0.04417092353105545f };
+const float hout[32] = { 0.3285340666770935f,0.22085358202457428f,0.12098951637744904f,-0.09799372404813766f,-0.10965710133314133f,0.11195997148752213f,-0.0460088737308979f,0.06887952238321304f,-0.17150190472602844f,0.16806000471115112f,0.22007706761360168f,-0.17053596675395966f,-0.18258118629455566f,0.11141567677259445f,0.2356991171836853f,-0.1462659239768982f,-0.07617760449647903f,-0.10690175741910934f,-0.1045641228556633f,-0.18165844678878784f,0.10841057449579239f,0.0861072689294815f,-0.24102084338665009f,-0.14218294620513916f,0.12868660688400269f,0.18050049245357513f,-0.32975664734840393f,-0.08810361474752426f,0.10565455257892609f,-0.3257754445075989f,-0.2145686000585556f,-0.13106867671012878f };
 
-const float b1[32] = { 2.0403177738189697f,1.2778289318084717f,-1.7145336866378784f,0.23743566870689392f,1.3944191932678223f,0.6304308772087097f,-0.14450021088123322f,0.8285562992095947f,0.4919050931930542f,-1.0229207277297974f,0.5592874884605408f,1.4959315061569214f,-0.3425353467464447f,-0.583766520023346f,-1.087764859199524f,0.444532185792923f,0.5324435234069824f,-0.26377663016319275f,0.44209927320480347f,0.4560243487358093f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,3.374342679977417f,-2.0880801677703857f,-1.0489267110824585f,0.6588845252990723f,0.34162721037864685f,-1.0887231826782227f,1.3664661645889282f,-0.3518538773059845f };
+const float b1[32] = { 0.4818006157875061f,1.1062662601470947f,-1.7145336866378784f,-0.293131023645401f,0.9907568097114563f,0.587111234664917f,-0.07891944795846939f,0.8563322424888611f,0.7314462065696716f,-1.7802314758300781f,0.5555223226547241f,1.9427076578140259f,-0.3425353467464447f,-0.8868549466133118f,-1.087764859199524f,0.9795960187911987f,0.4756251275539398f,-0.26377663016319275f,0.4432559311389923f,0.7222383618354797f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,2.3485264778137207f,-2.0880801677703857f,-1.0489267110824585f,1.1429173946380615f,0.330148845911026f,-1.0887231826782227f,2.7441704273223877f,-0.7675299644470215f };
 
-const float b2[32] = { -0.14920102059841156f,-0.7642630338668823f,-1.4564176797866821f,-0.5027639269828796f,-0.6939148902893066f,-0.024314604699611664f,-0.15146927535533905f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.030093448236584663f,0.8906927108764648f,-0.16960477828979492f,2.014951705932617f,0.5898429155349731f,1.6626747846603394f,-1.798204779624939f,-1.5844906568527222f,-0.10610046237707138f,-0.46548226475715637f,1.065256118774414f,0.829246461391449f,0.09864116460084915f,-1.0331344604492188f,0.03745493292808533f,-0.5483406186103821f,0.6801903247833252f,-0.30449584126472473f,-0.6323830485343933f,-0.5749766230583191f,-1.178520679473877f,-1.3593226671218872f };
+const float b2[32] = { -0.40103670954704285f,-0.7642630338668823f,-1.4564176797866821f,-0.49962595105171204f,-0.6939148902893066f,-0.022535908967256546f,-0.6311395168304443f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.8838258385658264f,-0.014070367440581322f,-0.17915353178977966f,1.7070800065994263f,0.06387366354465485f,0.7596573829650879f,-1.798204779624939f,-1.5844906568527222f,0.2609967887401581f,-0.33118870854377747f,-0.18817031383514404f,0.02958468534052372f,-0.043277401477098465f,-1.0290855169296265f,1.4672268629074097f,0.6350066661834717f,0.6771167516708374f,-0.19818219542503357f,-0.6323830485343933f,-0.5913786292076111f,-1.178520679473877f,-1.3602246046066284f };
 
-const float b3[32] = { -1.963319182395935f,-0.5339477062225342f,-0.08452160656452179f,-3.0915160179138184f,-0.235996276140213f,1.2089061737060547f,-0.5416222214698792f,-0.6562485098838806f,1.5423742532730103f,-2.1058833599090576f,0.02474682778120041f,-0.5604976415634155f,-1.0260348320007324f,-0.6617354154586792f,-1.1428403854370117f,-0.5134152173995972f,-1.3594286441802979f,-1.0192245244979858f,-0.25306230783462524f,0.42837002873420715f,0.21771831810474396f,1.9625293016433716f,-1.0643731355667114f,-0.9605391621589661f,-0.28960591554641724f,-0.36519983410835266f,-0.16815036535263062f,0.22437766194343567f,-0.016266006976366043f,-2.3236680030822754f,-0.18919838964939117f,0.2557937204837799f };
+const float b3[32] = { -1.963319182395935f,-0.6274195313453674f,1.1384413242340088f,1.979814052581787f,-0.15324606001377106f,1.3218547105789185f,-0.7370918393135071f,-0.7946186065673828f,-1.156858205795288f,0.9159353971481323f,-1.337450385093689f,-0.06528091430664062f,-0.020975759252905846f,-2.8651247024536133f,-1.1428403854370117f,-0.3598397970199585f,-1.4632691144943237f,-1.0953925848007202f,-1.368699312210083f,-0.006746998988091946f,-0.19747360050678253f,1.1643486022949219f,-1.210842490196228f,-1.1877007484436035f,0.4871830344200134f,-0.3806637227535248f,-0.18612292408943176f,-0.34090521931648254f,0.24618272483348846f,-2.3236680030822754f,-0.17449970543384552f,-1.8896948099136353f };
 
-const float bout[1] = { -0.1794629842042923f };
+const float bout[1] = { -0.09882741421461105f };
 
 
 int main()