Diff: main.cpp

Revision:

212:ec41f1449ef9

Parent:

211:6fe9886cdb6e

Child:

213:3e7bee70a0b4

Child:

214:231d27008443

--- a/main.cpp	Wed Dec 23 06:27:15 2020 +0000
+++ b/main.cpp	Wed Dec 23 11:22:31 2020 +0000
@@ -1,4 +1,4 @@
-//201223_3
+//201223_4
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -199,72 +199,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = {
-    {-1.546078085899353f,0.361652135848999f,0.12903714179992676f,-1.0499156713485718f,-1.5020780563354492f,0.799557089805603f,-0.17472904920578003f,1.6538918018341064f,-0.33628979325294495f,-1.0321094989776611f,-0.23684848845005035f,-0.9042033553123474f,-0.25509142875671387f,-1.1200040578842163f,-0.2571594715118408f,-0.6349852085113525f},
-{-0.8596522808074951f,-0.3120137155056f,-0.3927857577800751f,-1.1837406158447266f,-0.7431631088256836f,0.11158730834722519f,-0.4054011106491089f,0.4331357181072235f,-0.13612186908721924f,0.5075802206993103f,-0.27370503544807434f,-0.5497169494628906f,0.24488189816474915f,-1.353187918663025f,-0.20967772603034973f,-0.2520674169063568f},
-{-1.027856707572937f,0.2214081585407257f,0.36391180753707886f,-1.4669344425201416f,-0.6888070702552795f,0.08477509766817093f,0.2872133255004883f,0.6314951181411743f,-0.23233523964881897f,0.12511108815670013f,-0.34768086671829224f,-0.4033336937427521f,0.006954585202038288f,-1.001330852508545f,0.05590221285820007f,-0.35799112915992737f},
-{-0.8887169361114502f,0.9978446364402771f,0.39742106199264526f,-0.22255514562129974f,-0.8239138722419739f,-0.41667890548706055f,-0.11584559082984924f,0.975131630897522f,-0.06620155274868011f,-0.9019508957862854f,0.09614303708076477f,0.20408129692077637f,-0.1548970490694046f,-0.6461730003356934f,-0.2961459457874298f,0.17067596316337585f},
-{0.6723200082778931f,1.1419994831085205f,-0.0051451027393341064f,1.0692040920257568f,0.10727441310882568f,-0.5531254410743713f,0.1294034719467163f,-0.25556430220603943f,-0.07107188552618027f,-1.0929906368255615f,0.3479995131492615f,0.2231312096118927f,-0.058105532079935074f,0.8237587809562683f,-0.3865056037902832f,0.11934724450111389f},
-{3.7127530574798584f,-2.5174219608306885f,0.21773302555084229f,3.0477185249328613f,3.436016082763672f,-1.961868166923523f,0.16514194011688232f,-3.4211652278900146f,-0.0615205354988575f,2.477680206298828f,-0.2475488781929016f,0.8490079045295715f,-0.2543642520904541f,3.181417226791382f,-0.4132833778858185f,0.3736213147640228f},
-{-0.26929038763046265f,3.1808366775512695f,-0.2501986622810364f,-4.459082126617432f,-1.539385199546814f,0.6246992349624634f,0.06014183163642883f,-1.5718029737472534f,0.06852987408638f,-1.5334218740463257f,0.15086963772773743f,-0.08829033374786377f,-0.17151489853858948f,3.3346705436706543f,-0.15618428587913513f,-0.29000696539878845f},
-{-1.1418464183807373f,1.525067687034607f,-0.26619744300842285f,0.19319379329681396f,-1.3049606084823608f,0.38398781418800354f,-0.17925891280174255f,0.7847610116004944f,-0.10247176140546799f,-0.9229041934013367f,0.10430599004030228f,-0.8101029396057129f,0.3782026171684265f,-0.81373530626297f,0.04303058981895447f,-0.20076002180576324f},
-{0.4776228070259094f,-1.9194914102554321f,0.10248100757598877f,-0.7253445386886597f,0.7790623307228088f,-0.7391023635864258f,-0.07246989011764526f,-1.3036123514175415f,-0.4540105164051056f,3.632073402404785f,-0.2983750104904175f,-0.27986952662467957f,0.23655663430690765f,-0.36471793055534363f,-0.30555272102355957f,-0.650860607624054f},
-{-0.27427127957344055f,-2.133636713027954f,0.18462657928466797f,-0.8196331858634949f,0.28979337215423584f,-0.3763601779937744f,-0.2990540862083435f,-0.35786694288253784f,-0.1715877801179886f,1.369327187538147f,-0.009420383721590042f,-1.114159345626831f,0.3801093101501465f,-0.5582246780395508f,0.3484981060028076f,-0.8675364851951599f},
-{0.17901860177516937f,-1.224602460861206f,0.37182438373565674f,-0.17586977779865265f,-0.19623121619224548f,-0.3711324632167816f,-0.20339298248291016f,0.016905533149838448f,-0.5214647054672241f,0.6325316429138184f,0.34721440076828003f,-0.8592796921730042f,-0.05839260667562485f,-0.005120187532156706f,0.26688337326049805f,-0.9529700875282288f},
-{-0.06906984001398087f,-1.2341407537460327f,-0.40320003032684326f,0.02483939193189144f,0.1510181427001953f,-0.5047181844711304f,0.1533789038658142f,0.14664340019226074f,-0.16939152777194977f,0.3664097189903259f,-0.4153592884540558f,-0.17172104120254517f,0.15277211368083954f,0.43496182560920715f,0.10493969917297363f,-0.41127416491508484f},
-{0.023423831909894943f,-0.88052898645401f,0.19847965240478516f,0.30479538440704346f,0.2847832441329956f,-0.2262878566980362f,-0.2404318004846573f,0.18100465834140778f,-0.1452060043811798f,0.01916847750544548f,-0.10988222062587738f,-0.33172914385795593f,0.09968993812799454f,0.26685139536857605f,-0.22268100082874298f,-0.4445679485797882f},
-{-0.09026174992322922f,-0.6224011182785034f,0.4127817749977112f,0.4731111526489258f,-0.190794438123703f,-0.5028371214866638f,-0.32001304626464844f,-0.24426521360874176f,-0.08077334612607956f,-0.007110084872692823f,-0.19549734890460968f,-0.11970767378807068f,-0.3054847717285156f,0.2603020668029785f,0.0479682981967926f,0.15816257894039154f},
-{0.022531412541866302f,-0.17848119139671326f,0.20282304286956787f,0.4242058992385864f,0.2516932785511017f,-0.20840142667293549f,0.04202890396118164f,0.35329484939575195f,0.3554973304271698f,0.1979427933692932f,-0.27989843487739563f,-0.3284192681312561f,0.11093859374523163f,0.19121049344539642f,0.0668090283870697f,0.2350914478302002f},
-{0.0005804843385703862f,-0.3353522717952728f,-0.40439701080322266f,0.6412276029586792f,-0.07361637055873871f,0.00661800242960453f,-0.15568238496780396f,-0.03549305722117424f,0.26091328263282776f,0.1284361630678177f,-0.47459378838539124f,-0.04844345897436142f,-0.2634789049625397f,0.25194695591926575f,-0.08245879411697388f,0.22769993543624878f},
-{-0.12284072488546371f,-0.24371252954006195f,0.16706281900405884f,1.3465361595153809f,0.027943080291152f,-0.13184677064418793f,-0.041414469480514526f,0.14739923179149628f,0.009675423614680767f,0.09683336317539215f,-0.354688823223114f,0.17883950471878052f,0.12002348899841309f,0.7905712723731995f,0.29427415132522583f,0.016808994114398956f},
+    {-1.6070621013641357f,1.4444793462753296f,0.12903714179992676f,0.45971256494522095f,-1.8895007371902466f,1.5912665128707886f,-0.17472904920578003f,1.3318427801132202f,-2.261326551437378f,-0.03385619446635246f,-0.23437689244747162f,-1.2534494400024414f,-0.26408806443214417f,-1.1718051433563232f,-0.2571594715118408f,-1.0255193710327148f},
+{-1.0846422910690308f,0.8761099576950073f,-0.3927857577800751f,0.10885071754455566f,-1.2603814601898193f,0.7932608127593994f,-0.4054011106491089f,0.5438631772994995f,-1.546224594116211f,0.22130662202835083f,-0.27116647362709045f,-0.7526845335960388f,0.23553097248077393f,-1.0961291790008545f,-0.20967772603034973f,-0.659416675567627f},
+{-0.8406979441642761f,0.5655145645141602f,0.36391180753707886f,-0.2829425036907196f,-0.6366292238235474f,0.6242642402648926f,0.2872133255004883f,0.39269590377807617f,-1.4623386859893799f,0.22947895526885986f,-0.34503698348999023f,-0.4441416561603546f,-0.00272137182764709f,-0.3268943130970001f,0.05590221285820007f,-1.1436342000961304f},
+{-0.35294806957244873f,-0.09107200056314468f,0.39742106199264526f,0.33738622069358826f,-0.11074129492044449f,-0.19795556366443634f,-0.11584559082984924f,0.2239270806312561f,-1.016740083694458f,0.367963969707489f,0.09880797564983368f,0.34261059761047363f,-0.16485224664211273f,-0.02963976189494133f,-0.2961459457874298f,-0.9800482988357544f},
+{1.1172692775726318f,-0.881708025932312f,-0.0051451027393341064f,0.24785789847373962f,0.949159562587738f,-0.8879446387290955f,0.1294034719467163f,-1.1183830499649048f,-0.18216757476329803f,0.18784251809120178f,0.35077041387557983f,0.5736857056617737f,-0.06842327117919922f,1.0481723546981812f,-0.3865056037902832f,-0.9325311183929443f},
+{3.2859668731689453f,-3.373445987701416f,0.21773302555084229f,0.23583510518074036f,3.153277635574341f,-3.0842037200927734f,0.16514194011688232f,-3.330359697341919f,1.6308770179748535f,0.20284788310527802f,-0.24478337168693542f,1.4629696607589722f,-0.26506540179252625f,3.084402084350586f,-0.4132833778858185f,0.3235807716846466f},
+{-0.16239909827709198f,0.652294397354126f,-0.2501986622810364f,-0.7905404567718506f,-0.6188644766807556f,0.8528907299041748f,0.06014183163642883f,-0.4905660152435303f,1.5433074235916138f,-0.1533675193786621f,0.15192021429538727f,-0.10490059852600098f,-0.1730978935956955f,0.015356072224676609f,-0.15618428587913513f,0.5344299077987671f},
+{-0.8749822974205017f,0.6992738246917725f,-0.26619744300842285f,-0.08359992504119873f,-1.2196704149246216f,0.7197252511978149f,-0.17925891280174255f,0.24655599892139435f,0.32290568947792053f,0.030707592144608498f,0.10629666596651077f,-0.48497965931892395f,0.37155985832214355f,-0.5724732875823975f,0.04303058981895447f,0.5185656547546387f},
+{0.44704651832580566f,0.0694582387804985f,0.10248100757598877f,-0.6408140659332275f,0.08685804158449173f,-0.24289385974407196f,-0.07246989011764526f,-0.8823809623718262f,0.975390613079071f,0.2915976345539093f,-0.2963060140609741f,0.3272884786128998f,0.22921693325042725f,0.7061342597007751f,-0.30555272102355957f,1.1997355222702026f},
+{0.10269708186388016f,-0.4119151830673218f,0.18462657928466797f,-0.4237739145755768f,0.28614145517349243f,-0.0384453721344471f,-0.2990540862083435f,-0.3690754175186157f,1.0338808298110962f,-0.506875216960907f,-0.007301787845790386f,-0.4488030672073364f,0.372331827878952f,0.18725666403770447f,0.3484981060028076f,0.7741178274154663f},
+{0.4530973434448242f,0.06094556301832199f,0.37182438373565674f,-0.03273813799023628f,0.0016666745068505406f,-0.13683553040027618f,-0.20339298248291016f,0.0006952928379178047f,0.36829644441604614f,0.007492598611861467f,0.3493041396141052f,-0.34462884068489075f,-0.06654797494411469f,0.2495005875825882f,0.26688337326049805f,0.2787923216819763f},
+{-0.41628196835517883f,-0.34683796763420105f,-0.40320003032684326f,-0.26510435342788696f,0.01427370309829712f,-0.12881697714328766f,0.1533789038658142f,0.6213264465332031f,0.43982186913490295f,0.1924997866153717f,-0.41328826546669006f,-0.0027057332918047905f,0.14470605552196503f,0.13542859256267548f,0.10493969917297363f,0.358428418636322f},
+{-0.09863808006048203f,-0.15524423122406006f,0.19847965240478516f,-0.08667934685945511f,0.2108737826347351f,0.0608486607670784f,-0.2404318004846573f,0.5305993556976318f,0.29834941029548645f,-0.20526979863643646f,-0.10813693702220917f,-0.45609328150749207f,0.09201034903526306f,0.16512572765350342f,-0.22268100082874298f,-0.07933637499809265f},
+{-0.1803528368473053f,-0.07565825432538986f,0.4127817749977112f,-0.29987478256225586f,-0.3406386971473694f,-0.3658057749271393f,-0.32001304626464844f,0.18756037950515747f,0.23431532084941864f,-0.23265855014324188f,-0.19404397904872894f,-0.44801175594329834f,-0.31276315450668335f,0.09663949906826019f,0.0479682981967926f,0.23482243716716766f},
+{0.09787440299987793f,0.05535588413476944f,0.20282304286956787f,-0.1285126656293869f,0.21852988004684448f,-0.23995305597782135f,0.04202890396118164f,0.899287223815918f,0.4933943748474121f,0.07827243953943253f,-0.2784428298473358f,-0.7169914841651917f,0.10353262722492218f,0.041469767689704895f,0.0668090283870697f,0.10634815692901611f},
+{-0.17166218161582947f,-0.24739637970924377f,-0.40439701080322266f,-0.278349369764328f,-0.34712228178977966f,-0.047724951058626175f,-0.15568238496780396f,0.7170681357383728f,0.2422538846731186f,-0.006808132864534855f,-0.47287464141845703f,-0.4041852056980133f,-0.2711547017097473f,0.0345175676047802f,-0.08245879411697388f,-0.017156904563307762f},
+{0.10945872962474823f,-0.3796606957912445f,0.16706281900405884f,-0.1058274433016777f,0.09715140610933304f,-0.6114601492881775f,-0.041414469480514526f,0.459582656621933f,0.15684588253498077f,0.09002777934074402f,-0.35252657532691956f,0.13107328116893768f,0.11200001835823059f,0.6847966313362122f,0.29427415132522583f,-0.10886158049106598f},
 };
 
 const float h2[16][16] = {
-    {-4.527799129486084f,0.6820409893989563f,-0.06966331601142883f,0.5540435910224915f,-0.21907491981983185f,3.1338891983032227f,-0.06048932299017906f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-4.606686592102051f,-0.37958794832229614f,-0.016400590538978577f,-4.008707046508789f,3.2936906814575195f,-0.4451225697994232f},
-{-0.025993891060352325f,-0.8604259490966797f,0.057057321071624756f,-0.5842818021774292f,-0.35503754019737244f,-0.5380035042762756f,-0.6036195158958435f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.5821780562400818f,-0.7649829387664795f,0.0743352621793747f,-0.12555116415023804f,0.844036877155304f,-0.6543750166893005f},
+    {-0.2100285440683365f,0.5450449585914612f,-0.06966331601142883f,-0.16327691078186035f,-0.21907491981983185f,-0.7174352407455444f,-0.08997400104999542f,0.03496444225311279f,-0.43008196353912354f,-0.1415480375289917f,-1.024130940437317f,-0.43296945095062256f,0.12968102097511292f,-1.543792724609375f,-0.4490607678890228f,-4.010191440582275f},
+{0.09335885941982269f,-2.328054904937744f,0.057057321071624756f,-0.4136889576911926f,-0.35503754019737244f,-1.8548954725265503f,-0.5476264953613281f,-0.3163917064666748f,-0.33757925033569336f,0.2895788848400116f,-3.989751100540161f,-0.2958875000476837f,0.33698758482933044f,2.3762283325195312f,-0.10209953784942627f,-1.2367063760757446f},
 {-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},
-{-0.3417482376098633f,0.3533795177936554f,-0.2894435524940491f,0.04954472929239273f,0.08946844935417175f,-0.08458209037780762f,-0.48501384258270264f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,-0.19418053328990936f,0.020002810284495354f,-0.5509099364280701f,0.2837100028991699f,0.16813787817955017f,-0.1687486618757248f},
-{-1.1204174757003784f,1.8965997695922852f,-0.25313520431518555f,0.6254236698150635f,0.036378175020217896f,0.8173602819442749f,-0.6155303120613098f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-1.9287620782852173f,-0.91059809923172f,-0.0442003458738327f,-1.2676142454147339f,0.927952229976654f,-0.6073963046073914f},
-{-0.16543826460838318f,0.021899903193116188f,-0.3519742488861084f,0.09473834186792374f,-0.3015052080154419f,-0.3208472728729248f,-0.7214264273643494f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.20117740333080292f,-0.3499281406402588f,-0.3562796711921692f,-0.33363988995552063f,0.005666304845362902f,-0.934236466884613f},
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 };
 
 const float h3[16][16] = {
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+{0.15459725260734558f,0.8427432179450989f,0.679609477519989f,-0.1838339865207672f,-0.8048290014266968f,1.4805269241333008f,-0.08742031455039978f,0.05785742402076721f,-0.4665476381778717f,0.49658796191215515f,-0.08510879427194595f,-0.309722363948822f,-0.2896781861782074f,-0.9483605027198792f,0.4396055340766907f,0.17858834564685822f},
+{-0.408692330121994f,0.15604840219020844f,-0.11896948516368866f,0.0922636091709137f,-0.1451295167207718f,0.10412421077489853f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.07742909342050552f,0.12809070944786072f,0.03996849060058594f,-0.4220041334629059f,-0.2886850833892822f,-0.3350064158439636f,0.3153386116027832f},
+{-0.2991822361946106f,0.3794580399990082f,-0.07897943258285522f,-0.05932474136352539f,0.08582660555839539f,0.24227938055992126f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.015840977430343628f,-0.13475483655929565f,0.36124154925346375f,-0.16869547963142395f},
+{-0.2675279378890991f,0.4225318431854248f,-1.3180500268936157f,0.011379898525774479f,1.3076831102371216f,0.03549259528517723f,-0.32875844836235046f,-0.31893211603164673f,-0.9009249806404114f,-0.3250093460083008f,-0.5623511672019958f,-0.42054229974746704f,0.48087817430496216f,2.155684232711792f,0.3168305456638336f,0.050804875791072845f},
+{-0.015470266342163086f,-0.5833328366279602f,0.6117988228797913f,0.3354269862174988f,0.33325907588005066f,-0.5840275883674622f,0.05196094512939453f,-0.008358269929885864f,-0.5232630372047424f,-0.37522807717323303f,0.06831542402505875f,-0.11511552333831787f,0.5202909708023071f,-0.2629256248474121f,-0.06220770627260208f,-0.4585099518299103f},
+{0.1863725483417511f,1.084182858467102f,-1.0181115865707397f,-0.4724007248878479f,-0.33689597249031067f,0.9457219839096069f,0.04860696196556091f,0.17769548296928406f,-0.12625347077846527f,0.3378079831600189f,-0.4645434319972992f,0.19592127203941345f,-0.12818381190299988f,1.0687506198883057f,-0.028336618095636368f,-0.11500971764326096f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.20441627502441406f,-0.2907588481903076f,-0.009697429835796356f,-0.13994097709655762f,0.2031724900007248f,0.0030125975608825684f,0.07766560465097427f,-0.1913822889328003f,0.057547036558389664f,0.13517257571220398f,-0.26330289244651794f,-0.18393218517303467f,0.33344095945358276f,0.14132554829120636f,-0.19920329749584198f };
-
-const float b1[16] = { 0.7073319554328918f,2.1660501956939697f,-1.7145336866378784f,1.7168519496917725f,1.199524998664856f,1.0270514488220215f,-0.058932315558195114f,1.1854357719421387f,0.5485185980796814f,-1.4036970138549805f,0.5711912512779236f,1.4113762378692627f,-0.36514076590538025f,-1.5963966846466064f,-1.087764859199524f,1.332677960395813f };
-
-const float b2[16] = { 0.9642994403839111f,-1.7880347967147827f,-1.4564176797866821f,-0.6939772963523865f,-0.6939148902893066f,0.26103776693344116f,-0.01476240810006857f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.39619338512420654f,0.15750396251678467f,-0.3155595064163208f,1.7251747846603394f,0.4949413537979126f,0.4069630801677704f };
-
-const float b3[16] = { -1.963319182395935f,0.8966529965400696f,-0.72108393907547f,-0.3776831030845642f,0.27197739481925964f,0.39454057812690735f,-0.45353031158447266f,-0.8078028559684753f,1.2238730192184448f,0.07242175191640854f,-0.39867648482322693f,-0.09921017289161682f,-1.0563924312591553f,0.7492903470993042f,-0.5671085715293884f,-0.5422713160514832f };
-
-const float bout[1] = { -0.3978618383407593f };
+const float hout[16] = { 0.45773375034332275f,1.3250397443771362f,-0.4248747229576111f,-0.16762784123420715f,-0.8701521158218384f,-0.003051317995414138f,0.0030125975608825684f,0.15066689252853394f,-0.0765313059091568f,0.410363107919693f,0.11355479061603546f,-0.2710728645324707f,-1.0137888193130493f,0.31872233748435974f,0.46201157569885254f,-0.1275034099817276f };
+
+const float b1[16] = { 0.34279701113700867f,1.5129735469818115f,-1.7145336866378784f,0.27451324462890625f,0.7754346132278442f,1.2727166414260864f,-0.058932315558195114f,0.9473782777786255f,1.5622917413711548f,-1.0377662181854248f,0.5732393264770508f,1.2818049192428589f,-0.37127330899238586f,-1.0851714611053467f,-1.087764859199524f,2.291581153869629f };
+
+const float b2[16] = { -0.1286313831806183f,-1.2512075901031494f,-1.4564176797866821f,-0.8030261397361755f,-0.6939148902893066f,-0.16376319527626038f,0.1311706006526947f,-0.3665841221809387f,-1.20063054561615f,-1.912178635597229f,-0.45517241954803467f,0.411864310503006f,-0.07918518036603928f,1.8873447179794312f,-0.0411815345287323f,0.7242259383201599f };
+
+const float b3[16] = { -1.963319182395935f,-0.7351341247558594f,0.32978370785713196f,-0.1386529505252838f,0.019260885193943977f,-0.056516703218221664f,-0.45353031158447266f,-0.6562485098838806f,-0.015211169607937336f,0.6103503704071045f,-0.34831100702285767f,-0.014407366514205933f,-0.753882646560669f,-1.2588518857955933f,-1.226777195930481f,-0.5482154488563538f };
+
+const float bout[1] = { 0.2236381620168686f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };
@@ -1041,9 +1041,9 @@
             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] - torq.sen)/10000.0f + 0.5f;
+//                input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 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])/10000.0f + 0.5f;
+                input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f;
                 ind = ind + 1;
             }
 
@@ -2534,10 +2534,10 @@
                 torq.err = torq.ref - torq.sen; //[N]
                 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
 
-                float k3 = 20000.0f; //2000
+                float k3 = 2000.0f; //2000  //20000
                 float k4 = 10.0f;
                 float rho3 = 3.2f;
-                float rho4 = 25000000.0f;
+                float rho4 = 10000000.0f;  //25000000.0f;
                 float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
                 if (x_4_des > 1) x_4_des = 1;
                 else if (x_4_des < -1) x_4_des = -1;
@@ -2548,15 +2548,21 @@
                     valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
                 }
 
-
                 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
                 x_4_des_old = x_4_des;
-
+                float V_input = 0.0f;
                 V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
-
-                float rho_gamma = 50000.0f;//5000
+//                //V_out LPF
+//                float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz
+//                V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out);
+
+                float rho_gamma = 5000.0f;//5000 for change //50000 for not change
                 float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des));
                 gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
+                
+                if(gamma_hat > 10000.0f) gamma_hat = 10000.0f;
+                else if(gamma_hat < 100.0f) gamma_hat = 100.0f;
+                
                 break;
             }
 
@@ -2838,8 +2844,8 @@
 
             if (flag_data_request[4] == HIGH) {
                 //valve position
-                CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600
-                //CAN_TX_VALVE_POSITION((int16_t) action_array[20], (int16_t) virt_pos, (int16_t) Update_Case*1000, (int16_t) (logging4*1000.0f)); //1600
+                //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600
+                CAN_TX_VALVE_POSITION((int16_t) gamma_hat, (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
             }
 
             // Others : Reference position, Reference FT, PWM, Current  (ID:1300)