2D_cubes.ino

#include <stdint.h>
#include "SevSeg.h"


#include <SoftwareSerial.h>
#include <AltSoftSerial.h>

SoftwareSerial Serial4(68, 69);
SevSeg sevseg; 

void send_message();
void receieve_message();
int receive_neighbour_123(HardwareSerial& neighbour_serial, float* message, int read_signal);
int receive_neighbour_4(SoftwareSerial& neighbour_serial, float* message, int read_signal);
void update_message();
unsigned long now = 0;
unsigned long prev = 0;
unsigned long check = 0;
const unsigned long math_trigger = 1000;
int amount_of_cell_info = 15;
int neural_network_parameter = 40;
int update_num = 0;
float scale_factor = 100;
float offset = 127.5;

float cell_state[15] = {1.0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};

// n-b better to change to n,s,e,w
float ReadFromRightMessage[15] = {0};
float ReadFromLeftMessage[15] = {0};
float ReadFromTopMessage[15] = {0};
float ReadFromBottomMessage[15] = {0};

int message_sent = 0;

static const int red_light_pin= 11;
static const int green_light_pin = 10;
static const int blue_light_pin = 3;

int message_process_completed = 0;
int bottom_read = -1;
int right_read = -1;
int left_read = -1;
int top_read =-1;
int ready_to_update = -1;


union Float2Byte{
  float floatvar;
  byte bytevar[4];
  } float2byte;

          

PROGMEM const float dmodel_kernel_2[40][15]  = {{ 0.07306986 , 0.21827233,  0.17082913,  0.01331836, -0.2187641 , -0.07621206,
 -0.00052413 ,-0.16438824,  0.1660233,   0.00267533, -0.20689474,  0.02476237,
 -0.02155901 , 0.24260962, -0.05514909},{ 0.04866827, -0.06432697,  0.15997191, -0.069028 ,   0.03692965,  0.02454493,
  0.47042608 ,-0.07365225, -0.03477756, -0.06751963, -0.06927198, -0.00622708,
  0.02000782 , 0.05409358, -0.02838009},{ 0.09379961,  0.10086202,  0.03566831,  0.01811099,  0.06372628, -0.02188707,
 -0.03183741 ,-0.01582014,  0.14204454,  0.03619935, -0.02148345, -0.01099176,
 -0.03612875 ,-0.01383807,  0.19406419},{ 0.01064422, -0.00848559,  0.01812973,  0.12577029, -0.08160155,  0.15823193,
 -0.02863975 ,-0.01592504, -0.07053017,  0.02718551, -0.02960336, -0.02174469,
 -0.00957785 , 0.0207062 , -0.00493961},{-0.15856169, -0.05886309,  0.0734265 ,  0.01292603 , 0.05638849, -0.10115214,
 -0.06989881 , 0.01205677,  0.19281615, -0.0450055 ,  0.36882532, -0.10485961,
 -0.12579852 ,-0.05342546,  0.02737143},{-0.04069981, -0.10881241, -0.18712004, -0.08385882 ,-0.15893291,  0.30604526,
  0.05855173 ,-0.12132504, -0.09639953,  0.10678689, -0.07963682, -0.11080375,
 -0.02604771 ,-0.06595958, -0.08395441},{ 0.06109469,  0.16989543, -0.00084745, -0.00698886 , 0.15561187, -0.00045657,
 -0.024189   ,-0.01970942,  0.01164043, -0.03073079, -0.01672631,  0.02619255,
  0.20019305 ,-0.0011927 ,  0.07844754},{-0.028789,    0.0091943,   0.03963001, -0.09780766 , 0.11484019,  0.01056166,
  0.01219343 , 0.17877595, -0.33776385, -0.04295614, -0.01166729,  0.01902784,
  0.31868517 ,-0.11047246,  0.42580912},{ 0.02384584,  0.26373908,  0.20278855,  0.10157828 ,-0.09611001, -0.05281579,
 -0.00612473 , 0.07008742, -0.12424424, -0.04765998,  0.00848236, -0.07758003,
 -0.02616607 , 0.35935736,  0.05059512},{-0.03570333,  0.11247548,  0.05667376, -0.17051649  ,0.05422813,  0.01265663,
  0.02875567 ,-0.06034965, -0.11712737,  0.03904107,  0.01880656, -0.03662086,
 -0.01879722 , 0.03739225,  0.04975961},{ 0.08086085,  0.20778137,  0.06394283,  0.12712108 , 0.0127364,  -0.02664151,
 -0.02550224 , 0.06837743, -0.10140043, -0.04331821,  0.02997037,  0.3152003,
 -0.02565727 ,-0.01524471, -0.00596907},{ 0.03994266,  0.06724229, -0.03019392,  0.02068853 , 0.09541955,  0.00238806,
 -0.01817191 , 0.12680498, -0.13363962,  0.03192988,  0.08445822,  0.04000111,
 -0.0357669  , 0.02447016,  0.09619517},{-0.02157274, -0.01627502, -0.05275974, -0.0138871 , -0.0136803 ,  0.08191757,
  0.01975408 ,-0.01214442, -0.07465113,  0.04044571, -0.14900383, -0.01594285,
  0.0051595  ,-0.03652379,  0.0597081 },{-0.0172436 ,  0.02647328, -0.1514696 ,  0.00379304 , 0.0879051,   0.03666902,
  0.01467015 , 0.03227509, -0.00322959, -0.02037919 , 0.00556464,  0.04525485,
  0.11428267 , 0.07973108, -0.05750392},{ 0.03580934, -0.01694055,  0.04905307,  0.06218809 ,-0.08320726 , 0.07519624,
  0.00321875 ,-0.06124698,  0.03138281,  0.07082225 ,-0.04384578, -0.01149348,
 -0.04163329 , 0.04597203,  0.01171562},{-0.12192585 ,-0.0304701,  -0.08851532, -0.23196004  ,0.15584476, -0.11510844,
 -0.03104418 , 0.03505953,  0.19915931,  0.03920765 , 0.037569  , -0.16338146,
 -0.12106525 ,-0.17056808,  0.11246318},{ 0.03281258 ,-0.04950949,  0.04623761,  0.20653938 , 0.16859362, -0.02412629,
  0.01799581 , 0.15725096, -0.3771251,  -0.12488773 , 0.19202942 , 0.13599016,
  0.11252735 ,-0.02733122 ,-0.05741492},{-0.00765428 , 0.13537976,  0.09899219,  0.0983443 , -0.04550558, -0.01270085,
  0.01995322 , 0.00067157, -0.01238428, -0.03857503 ,-0.00574478 , 0.02925757,
 -0.00812923 , 0.09620202, -0.0490598 },{ 0.03465696 , 0.0199383 ,  0.11764925,  0.17447866 ,-0.18404564 , 0.00954709,
 -0.03651448 , 0.01336633, -0.24626622, -0.01636844 , 0.05635889 , 0.07328124,
 -0.13010041 , 0.14587735, -0.0390117 },{-0.26548994, -0.10345629, -0.15023486, -0.29598466  ,0.15555587, -0.02138686,
  0.01423192 , 0.5733592 ,  0.23605733, -0.0168746 , -0.22727467 , 0.04675924,
 -0.07278355 ,-0.15867405, -0.19005106},{ 0.00189418,  0.01436927,  0.01947143,  0.15713404, -0.05775398 , 0.00132401,
 -0.02657078 , 0.0417855,   0.07029936, -0.01852517 , 0.0258234  , 0.11763477,
 -0.00356156 , 0.0252909,  -0.08000688},{-0.04422887,  0.09798954, -0.03964638, -0.02063364 , 0.06498757,  0.01679174,
  0.00101677 ,-0.02717843, -0.12333775, -0.01411968,  0.06815947 , 0.02055293,
 -0.00020058 ,-0.08646092, -0.03186227},{ 0.01955639, -0.01181029, -0.08054513, -0.03660463,  0.05392445, -0.00177531,
 -0.01151452 , 0.00227965, -0.02473695, -0.01459872, -0.10445801 , 0.00066381,
  0.33477294 , 0.03159321, -0.13707295},{-0.05854611,  0.05563203, -0.07432222, -0.03877077 , 0.05131323, -0.01026979,
  0.02212165 , 0.06021192, -0.23577747, -0.01759825,  0.04000226 ,-0.06754858,
  0.00430236 , 0.00470649, -0.00905744},{ 0.02744578,  0.01049417, -0.14400882,  0.07265298, -0.0483122 ,  0.5851007,
 -0.01454035 , 0.03055913,  0.04925501, -0.06990296, -0.09305329 , 0.00747169,
 -0.08222108 ,-0.03285745, -0.05162834},{-0.08028527, -0.00650254, -0.08865513, -0.12177491,  0.1484777,  -0.03225224,
  0.05424895 , 0.06576267,  0.17623559, -0.13273048,  0.05803378 , 0.0084713,
 -0.08396149 , 0.04943042,  0.09935889},{0.02462858, -0.06219504,  0.01083998, -0.04123548 , 0.01705255, -0.00500283,
  0.00423315 ,-0.09918094,  0.14344268,  0.0042718 ,  0.15417035 ,-0.08496436,
  0.00049431 ,-0.0028007 , -0.10328478},{-0.06149098,  0.14978845, -0.19309339,  0.02385345 , 0.2952537,   0.00487488,
  0.04301801 ,-0.11583121,  0.0494669,  -0.00283253, -0.09265693 , 0.61648583,
  0.06682242 ,-0.31377164,  0.03862396},{ 0.00694725,  0.1277931 ,  0.16225147, -0.03222198, -0.02504804, -0.02669266,
 -0.00248554 ,-0.06387497,  0.08781163,  0.01522855,  0.00610268 ,-0.03042516,
  0.04002726 , 0.10044505,  0.04859708},{-0.03156194, -0.1157001 , -0.08626787, -0.11208117 , 0.02686976, -0.02092152,
  0.02127195 ,-0.05566752,  0.12324136, -0.00164794, -0.03618627 , 0.03306646,
 -0.00744974 ,-0.07133985, -0.02498077},{-0.02736508,  0.02535594,  0.2350533 ,  0.14180268, -0.27926436, -0.0331983,
 -0.04743196 , 0.00529093,  0.12576331, -0.01322038, -0.05163177 , 0.01533772,
 -0.14073594 , 0.037071 ,   0.00642882},{ 0.08556568,  0.04851401,  0.05353763,  0.07847048, -0.10097551, -0.01848759,
 -0.00113077 ,-0.07241186,  0.20866382, -0.06169135, -0.10111146 , 0.02019643,
 -0.13822813 ,-0.01037119,  0.37543207},{ 0.05473702,  0.19788605,  0.16224682,  0.09582794, -0.03109609,  0.01692711,
 -0.11723787 , 0.04753019, -0.10977712,  0.46004966,  0.03240119 , 0.0911913,
  0.1098649  , 0.00732481, -0.05678695},{-0.22376063, -0.15850763, -0.10074101, -0.2912151,  -0.17034493 ,-0.1599119,
  0.14202355 ,-0.09511662, -0.11193856,  0.38811857, -0.11081228 ,-0.10829836,
 -0.11980244 ,-0.08078839, -0.07115651},{ 0.00798322, -0.04994775, -0.1214494 , -0.21098432,  0.19605161, -0.05743315,
  0.04425124 ,-0.00189329, -0.13480374, -0.02665685,  0.16697045 ,-0.03992294,
  0.21475956 ,-0.0588842 , -0.06597529},{-0.03484216, -0.02849019, -0.13294432, -0.0360908,   0.01924483,  0.06739326,
 -0.03041751 , 0.1069481 ,  0.19840455,  0.04643737,  0.01707386 ,-0.03813351,
  0.01416968 , 0.0677641 , -0.19553229},{-0.01071236,  0.09638874, -0.08829297,  0.0153657 ,  0.08474442 ,-0.02549646,
  0.03332062 ,-0.03824322,  0.04445163, -0.0322081,  -0.03378802 , 0.08707765,
  0.04655609 ,-0.0843944 , -0.10470995},{-0.02161409, -0.03201476, -0.10308237,  0.00880122 , 0.01404477  ,0.03581631,
  0.03376344 , 0.15233745, -0.06243582,  0.0086757 ,  0.05014464 , 0.09050902,
  0.05085665 ,-0.07580943, -0.07581396},{ 0.04543801,  0.02276264,  0.02272544,  0.0764323,  -0.04839323 , 0.02976735,
 -0.01147835 , 0.07726516, -0.04036373, -0.02652093,  0.04246063 ,-0.07795841,
  0.04750724 , 0.12476142,  0.10683694},{-0.04147321,  0.07877503, -0.03574083,  0.03862737,  0.10744441, -0.03943758,
 -0.03399108 , 0.14007546, -0.15142705, -0.00389115,  0.04915684 , 0.03570704,
  0.07829898 , 0.06922383,  0.03922411}};

   
 PROGMEM const float dmodel_kernel_1[40][40]  = {{0.40466344,-0.1524832,0.30265495,0.12730531,0.03920864,0.12515596,0.09276772,0.039528113,0.41134217,0.14012508,-0.13232224,0.11303754,0.01618393,-0.07626962,0.32201615,0.13135746,-0.30167696,0.122185044,-0.26558337,-0.67049253,0.32734928,-0.23049644,0.06983475,-0.38751602,-0.56668824,0.08803036,-0.030478187,-0.15782546,0.45159835,-0.25189188,0.33667323,-0.065458834,0.3824287,0.2108373,0.004258222,0.24007133,-0.3359964,-0.30582565,-0.13964175,-0.18160477},
{-0.35522217,0.30502257,-0.4497363,-0.17436954,0.14600468,0.025290877,0.35952455,0.2680586,-0.47546318,0.16038938,0.032546975,-0.042558476,0.2770738,0.2371357,-0.07277929,-0.058026228,-0.1653207,-0.08097052,-0.019143881,0.19961129,-0.12699,-0.030253489,0.429997,0.045018744,0.28068078,-0.042044938,0.17891015,0.38826138,-0.054445677,-0.24658816,0.06841017,-0.14755537,-0.5653615,-0.28727865,0.44546625,-0.33040696,-0.12522483,0.1440662,0.1929966,0.22998816},
{0.12536837,0.076972306,-0.11400381,-0.2912062,-0.21201523,-0.2871257,0.28075063,0.13491856,0.3254421,-0.09261201,-0.093120575,-0.31278664,-0.3118058,0.30616355,-0.062182274,-0.17442311,-0.13991113,0.1511508,0.06425781,-0.20108195,-0.15046276,-0.29400513,-0.1521019,-0.03035538,-0.25205922,0.21070659,0.035829347,-0.2306654,0.29846868,0.04486517,-0.32395136,-0.01532228,-0.032310434,-0.013459541,-0.14685644,0.01422668,0.022937039,0.0057625338,0.14366284,-0.14287008},
{-0.042019837,0.09705145,-0.18936859,0.109265774,0.190447,0.007758981,-0.32168776,0.18043415,0.19293311,-0.3041647,0.40253273,-0.41423506,-0.006840563,0.14093794,0.008468442,-0.2456778,-0.42878482,0.24689706,0.33206278,-0.027697956,0.39320445,0.10550196,-0.13215521,-0.10492936,0.022467604,-0.12619227,0.04094957,-0.6229197,-0.13782611,0.010148483,-0.05494945,-0.02629327,-0.11698113,-0.122431055,-0.28202415,-0.24403717,0.020389766,0.20206606,0.04306353,-0.07296749},
{0.43786028,0.009008577,-0.29019988,0.08533855,-0.3532891,0.018124279,-0.023958676,-0.23712675,-0.27413812,0.093292706,0.09723061,0.2804154,0.04124981,-0.09639564,-0.12318962,-0.036403988,0.106511585,-0.001285305,0.012760834,0.15537573,0.23301749,-0.23467903,-0.20622173,0.19585292,-0.38059875,0.06235683,-0.413253,-0.24132107,-0.0053495155,-0.3586424,0.33770275,-0.0739351,-0.22641493,-0.13862969,-0.26589313,-0.1422623,-0.11234864,0.18337831,0.43796137,0.06649816},
{0.010586661,0.35866302,-0.13822125,0.056274105,0.10359401,-0.43824458,0.080576606,0.46888277,0.047104612,-0.088655606,-0.028411187,-0.2504389,0.14242032,0.103510074,0.1468534,0.24179,-0.147355,-0.25670734,-0.1227292,-0.73098063,0.083563596,-0.18692759,0.13101836,-0.32452932,0.116206385,0.20436591,0.25435263,-0.45823506,0.24938096,0.2981384,0.111244224,0.46418282,-0.19368383,-0.13376735,0.043222424,-0.22386424,0.16077653,-0.32105917,0.2235345,0.101902716},
{0.20948255,-0.3461601,-0.122286916,-0.09922704,0.10869041,-0.2937364,0.2442493,-0.06333781,0.24165875,-0.23147675,0.30037764,0.069055624,0.033492252,-0.23095834,0.04117206,-0.15787838,-0.32596695,0.2812631,0.29055682,-0.036826357,0.22714683,0.10633311,-0.086006284,-0.103256814,0.2213651,-0.118217655,-0.16165103,0.13397653,-0.13096637,-0.38042402,0.0740725,0.34245193,-0.09842802,-0.4284877,0.13551491,-0.31004813,0.19585747,-0.003036776,0.2289476,0.11632538},
{-0.28948903,-0.23336361,-0.09924808,0.027103603,-0.23173742,0.01594371,-0.28316203,-0.048118867,0.117971376,0.21527609,-0.11960056,0.0455391,0.007682249,0.070414856,0.08388667,0.09718665,-0.10053025,-0.06428446,0.24254875,-0.11455713,0.064346656,-0.03557335,-0.22983678,0.31155542,-0.088017926,-0.1846988,-0.32690328,-0.17529738,0.23215503,-0.19266053,0.09900643,0.13942768,0.07700822,0.15337344,-0.14593358,-0.27837944,-0.22709318,-0.067988716,-0.0891094,-0.07165962},
{-0.25090438,0.45516774,0.043522004,0.019117057,-0.0692791,0.047145523,-0.14329438,-0.40630475,-0.21238315,0.0022686403,-0.102067366,0.27750865,0.27435753,0.2755087,0.2329303,-0.117367804,0.022493133,0.24887346,0.18430023,-0.14490408,0.2425645,0.042682007,0.021109963,0.28381956,-0.13861048,0.043220755,-0.43449378,0.11284141,0.16362451,-0.11173597,0.18953528,-0.20618917,0.3029652,-0.06883353,0.14726573,0.14916226,0.3570299,0.054552514,-0.35766923,-0.13652435},
{-0.29975262,0.08637776,0.18182263,-0.23168975,0.13336504,0.03410988,0.26184383,0.055757158,0.07658267,-0.050271537,0.12072393,0.1121122,-0.24774458,0.18494166,-0.38768935,0.011799483,-0.100042276,-0.32850316,-0.26749986,0.07139334,-0.21453479,0.25788292,0.025437633,0.45648834,0.0667395,-0.061274245,-0.06845816,-0.18338497,-0.21211198,0.117808275,-0.16081868,0.035130665,-0.351674,-0.20265706,0.1445248,0.23958866,0.2071864,0.11941152,-0.03790412,0.15786363},
{-0.37366846,-0.4083306,-0.20616841,-0.25509635,-0.5074152,0.06830471,-0.036840893,-0.38956743,-0.20848691,-0.21065418,-0.19986536,0.025311284,0.18393734,0.13190734,-0.1943965,0.36174235,0.2485761,-0.45460308,-0.41870913,0.11250854,-0.23562662,0.04087637,-0.18857871,0.120779715,-0.031288225,-0.025454683,0.14766563,-0.23406053,0.011455142,0.285327,-0.26841986,-0.34141472,-0.33142325,-0.26248473,0.09597834,0.24226835,0.020465007,0.16503394,0.0071760793,0.1430163},
{-0.016438024,0.07709299,-0.18996003,0.12828869,-0.35300297,0.15161876,-0.28586504,0.07586705,0.16768804,-0.08608194,-0.347432,-0.22769873,0.39213777,-0.003592508,0.2839949,-0.28854337,0.12872255,0.103726536,0.19204625,-0.37310496,0.006893564,0.18001804,0.029545283,0.088900775,0.29370132,-0.3971756,0.017042752,-0.153714,-0.19446199,0.09482418,0.2295475,-0.18544814,-0.022149784,0.068625756,-0.16589819,0.06228201,0.003933414,-0.030663833,0.014508498,-0.11395654},
{-0.03151979,0.018235039,-0.2846256,-0.27550045,-0.03508213,0.21063414,0.054591496,0.16828544,-0.31400186,0.31535357,-0.30600348,-0.15637262,-0.37889,-0.32502413,-0.19207971,0.20156081,0.032568973,-0.31026077,0.14921339,0.11265645,0.09514055,0.035725575,0.34858632,0.26954454,-0.18899453,0.040630758,0.16743761,-0.63511795,0.2579033,0.21933286,0.03618244,-0.106381625,-0.37746462,0.28461447,0.094711475,-0.18932009,0.30218625,-0.13422094,-0.25473702,0.028470038},
{0.13675813,-0.37493476,0.055881564,-0.36151654,-0.08230096,-0.33926377,-0.2033917,-0.09718445,-0.25159663,0.19090413,0.10313963,-0.21105582,0.26444355,-0.27854925,-0.12028867,0.12706809,-0.3228226,-0.17442216,0.109314814,-0.120094396,-0.26269522,0.017091665,-0.3173755,-0.04531665,-0.57132727,0.20711371,-0.049238343,-0.06328383,-0.24753559,0.23454688,0.09919547,-0.118236944,-0.15028766,-0.117684074,0.067201264,0.1482593,-0.25992715,-0.02548487,-0.36016434,-0.21885908},
{-0.25044444,0.34134597,-0.12800288,-0.14288303,-0.2733203,-0.12099598,-0.07469191,-0.24817455,-0.10476288,0.0788409,-0.29563162,-0.028262438,-0.19116154,0.06366886,-0.2215961,0.15016517,0.23373418,0.11808916,0.138248,-0.16482191,-0.053686988,-0.19183125,0.17619434,-0.030746056,-0.23091313,0.33943188,0.4150261,0.5867046,-0.45488203,0.2437443,0.094566226,-0.36375356,0.017393515,0.20081198,-0.4717884,0.050858434,0.045951895,0.10622086,-0.0212227,-0.15328142},
{0.15903053,0.04303872,-0.22016297,0.27577367,-0.18221848,0.3302518,0.20941359,-0.24439394,-0.06533647,0.18224993,0.24826509,-0.18420427,0.23062643,0.1765401,0.2076253,0.29698423,-0.2838774,-0.048408687,-0.0095720235,-0.0673163,-0.026704263,0.13864493,0.107751094,-0.07996912,0.26890865,0.2216619,0.23885979,-0.207261,0.224887,0.022962267,-0.20289727,-0.07687863,0.20349658,-0.20229316,0.057622083,-0.16771375,-0.22181503,-0.17023411,0.041542534,0.027176134},
{-0.23162651,0.22986497,-0.3621127,0.15822542,-0.3183863,-0.09149626,0.25696826,0.15463378,-0.36645937,-0.03761532,-0.048624575,-0.061194375,-0.19459344,0.18949415,0.28316638,-0.17074403,-0.0092475,-0.19297706,-0.030286811,-0.0903064,0.032032803,-0.01517546,0.42499873,0.12225347,0.34968075,0.055272378,0.052270744,-0.40994635,-0.011166281,-0.2700747,-0.22334102,-0.20230655,-0.40948832,-0.06313441,-0.3142329,0.13230127,0.14947885,0.19845866,0.07907743,0.23941493},
{-0.2787864,-0.22833955,0.009777341,0.24394089,0.41033778,0.11798997,-0.031767968,-0.25561646,-0.122435585,-0.023198463,-0.26447204,-0.0034194908,-0.030648801,0.10812103,-0.17988761,-0.25332847,0.20040715,0.06841171,-0.07443949,-0.66463435,0.12738052,0.11819432,-0.34056062,-0.13796908,0.3130923,0.13682093,-0.1456791,-0.06074256,0.050518945,-0.030790757,0.112057,0.22375584,-0.11628439,-0.3377541,-0.12453624,-0.17698479,-0.11142974,-0.27995378,-0.23190421,-0.23364867},
{-0.013501295,-0.3642243,-0.4301138,0.09446241,-0.22229972,0.052470986,-0.3879934,-0.4925058,-0.32671255,-0.63230914,-0.34034047,-0.5710095,-0.59073234,0.0813948,-0.12912141,0.03089915,0.018807856,-0.2278521,-0.31087318,-0.37208578,-0.024706203,0.372546,0.028159147,0.049110577,-0.10925163,0.21005921,-0.6212995,-0.27360636,-0.121409975,0.027728379,-0.06706979,-0.21352775,-0.5110208,-0.27965465,0.069198824,-0.11091786,0.067151554,-0.35841525,-0.03939848,-0.07517462},
{-0.062324837,-0.13992755,0.04003977,0.19974896,-0.18183656,0.37750036,-0.22038405,-0.05369271,-0.30675918,-0.07722871,-0.25182813,0.037163883,0.026483972,0.10642591,0.08346438,-0.0047297706,-0.17240098,-0.33662257,-0.2984366,-0.6369115,-0.08790135,-0.12796839,-0.23138066,-0.1570175,0.36664686,0.22213535,-0.13987012,-0.61438465,-0.12092456,0.15835622,0.07189361,-0.07729906,0.16663846,0.29899877,0.0004950848,0.26737007,0.12393753,-0.086242534,-0.31849232,0.032757085},
{-0.19902441,0.23641707,0.10112873,0.22967264,0.10798328,0.24878459,-0.28901446,-0.08611862,-0.09533158,-0.30947366,-0.29250908,0.054627206,0.2192764,-0.16097176,0.27168214,-0.080887854,0.17158225,-0.2105467,0.119485244,-0.24714588,0.0788394,-0.18810722,-0.15182512,-0.08885624,0.03268406,0.08810162,0.16630812,-0.025828756,-0.31585142,0.28412342,0.15405059,0.16886319,0.11835613,0.4170398,0.035715308,0.020775681,-0.2644617,0.045357876,0.19683036,-0.06294959},
{0.08555565,-0.0904721,-0.011475445,0.20175523,-0.2989493,0.26369238,0.18501398,-0.285482,-0.03599637,0.084874354,0.2490699,0.08080001,0.021532321,-0.09237821,-0.27003413,0.31560457,-0.40702048,0.2946877,0.07780728,0.19852337,0.403106,0.18906352,-0.014812727,0.14609121,0.12622607,0.28414756,-0.033989318,0.06720082,0.053524796,0.21225414,-0.37738556,-0.23313165,-0.0774141,0.16859895,-0.06756157,0.23308532,0.12344352,0.24859028,0.06231771,0.22673333},
{0.029662935,0.03913086,-0.027004898,0.37501276,-0.73744434,0.44379255,-0.18457565,0.22303195,0.12708753,0.13051964,-0.33508125,0.24116431,0.14734682,0.20591164,0.20002948,-0.24204981,-0.3485357,0.22703399,0.13915867,-0.14042465,-0.20614454,0.20471038,-0.012823,0.37662098,0.039446432,-0.275321,-0.06587929,0.01308055,0.054712743,-0.1368491,0.06298864,0.029234646,0.313765,0.3107815,-0.42904457,0.0850427,-0.42651376,-0.08455957,-0.341179,-0.030799512},
{0.005825129,0.041293964,0.3312805,0.018357558,-0.4451187,-0.3918486,-0.13333912,-0.16757774,-0.33130625,-0.4704697,0.29763603,0.05501365,-0.5861879,-0.1707132,-0.19921072,0.014971676,0.009020272,-0.5185753,2.3415272e-05,-0.19467267,0.027449353,0.2601125,-0.5005956,0.29329538,-0.43972856,0.09442912,-0.15510267,-0.06945094,-0.09365689,0.037327487,-0.02421987,-0.3827516,0.13294205,0.2372641,0.09575066,0.1721685,0.27679205,-0.06797715,-0.039259236,0.27836385},
{-0.22412516,-0.0695298,0.119973004,0.03934238,-0.26043782,-0.37980306,0.3034279,0.48839688,0.09211974,0.073252045,0.24269708,-0.002318871,-0.12061252,-0.071005054,0.09387566,-0.15030651,0.20660858,0.21570331,-0.049070574,-0.22050288,0.27130324,0.016990377,0.19356707,-0.08451978,-0.4628919,0.21663631,-0.07078817,-0.34529665,0.113910116,0.010202036,0.1380006,0.20300153,0.18566051,0.13137798,-0.24142297,0.10747466,-0.25775635,-0.17410596,-0.17261314,0.2735214},
{0.15504119,-0.0061346013,0.09731032,-0.22486772,0.12650573,0.19597207,0.14662057,0.12458955,0.12326958,0.27125004,-0.0645108,0.14790763,-0.108860314,-0.03836042,-0.11775165,-0.14964956,0.21559878,0.20826954,-0.06078551,-0.31100875,0.21655011,0.11819141,0.13601345,0.21069716,-0.48120847,-0.35739172,0.1873412,0.2531074,0.18626109,-0.30676594,-0.016545955,-0.10673888,-0.15389344,0.06598892,-0.07984877,-0.02053394,-0.28119913,-0.19592395,0.083263375,-0.23075719},
{-0.20922521,0.35489783,-0.39657342,-0.054198865,-0.25841066,-0.2652097,-0.3816893,0.29636165,-0.22360241,-0.30463597,-0.4063281,0.17849864,-0.043584347,-0.12905389,0.0036692321,0.30431306,-0.26903588,-0.019512886,-0.42721334,0.040678203,-0.043032896,-0.20804325,-0.09891721,-0.25346264,-0.34509143,0.15441288,0.48433346,-0.523298,0.14239922,0.34767655,0.12251224,-0.036467005,-0.32395175,-0.22488262,-0.45638996,0.47424674,0.21604182,0.03372681,0.052550998,-0.4079279},
{0.33121485,-0.29125172,-0.2886849,-0.029242566,0.06508587,0.27498248,-0.26552534,0.19046214,0.18438262,0.08220409,0.088881455,0.12146663,0.0011730238,0.30689055,0.1799716,0.17468384,0.10254949,0.020826621,0.33313125,0.13746873,-0.20229907,0.19047666,-0.5264213,0.12417443,-0.13217452,0.193684,0.11090552,0.26033786,0.13184254,-0.1402023,-0.15958144,0.0057960586,-0.5104018,-0.459457,0.09820997,-0.040903345,0.09127664,-0.060151108,0.1616197,0.0106157875},
{0.28149167,-0.47654697,-0.13990825,0.26287216,0.23929869,-0.11784334,-0.47394603,-0.37560844,0.08097158,-0.096741475,0.22692512,0.11929375,-0.10600522,0.27992824,0.12392258,-0.3475481,0.3101598,0.31375688,0.34428167,0.21425495,0.22812887,0.13728304,-0.1619448,-0.011704461,0.03517179,-0.038653284,-0.23268187,0.52255476,-0.14263397,-0.07024931,0.24194007,-0.3705833,-0.112687126,0.023648204,-0.06404656,0.12567882,-0.28998458,0.16290048,-0.19339117,0.21566218},
{0.12904936,0.25003028,-0.23616064,-0.23058994,-0.42542803,-0.22725376,0.19940476,-0.28988647,0.12530598,0.3146921,-0.31236035,-0.031866718,-0.31463736,-0.1353304,-0.3348471,0.19414099,0.02692484,-0.038694415,-0.30291012,-0.5490894,-0.12401741,0.06861423,0.26365364,0.13052562,-0.4304466,0.27609506,0.007841848,-0.32996067,0.22351147,0.2786481,-0.028422026,-0.27749726,-0.3621559,-0.22787476,0.25677872,-0.30726287,0.30636,-0.10128855,-0.09690347,-0.3197912},
{-0.034407027,-0.2654237,0.3469021,-0.0025161097,0.19607788,-0.18360518,0.1260226,-0.15673418,0.076655164,0.2521736,0.009100683,-0.12569696,0.13684224,0.26523685,0.20347527,-0.5006971,-0.1173885,0.1304899,0.029816464,-0.038816255,-0.1440784,0.10046223,-0.0063362825,0.019030461,0.055007033,-0.27486923,0.16674353,-0.08587995,0.14445849,0.21729735,0.22818477,0.083119534,-0.22844365,-0.20950148,0.20480666,-0.009858729,0.1167332,0.23487514,-0.03840849,0.052644208},
{0.011927562,0.26621708,-0.032066204,0.0124457255,-0.36605492,0.07367261,0.0794368,-0.10694316,0.17573665,0.1975377,-0.20713408,-0.19694223,0.3314604,-0.023927985,0.15792835,0.16534986,-0.3302933,0.049718414,-0.12919731,-0.12343902,-0.23744953,0.034270663,0.15903664,0.08323039,-0.08821884,-0.1027521,-0.042707328,-0.795855,-0.14768982,0.07356429,-0.29392678,-0.12012853,0.3370261,0.42279887,0.109969124,0.2377854,0.3621334,-0.15612848,-0.13617772,0.04686338},
{0.25982982,-0.32367903,0.28435025,-0.111566454,0.18183322,-0.13125354,-0.008486712,-0.429961,-0.058961805,-0.09231087,-0.29890826,0.25807706,-0.31680855,-0.28516582,0.23285982,-0.0012615058,0.3056399,0.21678302,-0.18587948,0.3089159,-0.21307288,-0.045530498,0.16494751,-0.13515143,-0.35039142,-0.36663654,0.23550427,-0.45253056,0.30435932,0.32499856,0.1468844,0.21854396,-0.1066741,-0.18646127,-0.30265486,0.22552389,-0.10882236,-0.19812733,0.006720241,0.015800247},
{-0.28543597,-0.15969546,0.07460296,0.06516894,0.32176676,-0.3184212,-0.09016057,-0.06767466,-0.114862025,0.30570087,0.11127428,0.24885644,0.07405404,-0.14248341,0.009129652,0.32580185,-0.08669209,0.13653323,-0.068036996,0.33580562,-0.19256224,0.14960028,-0.035267822,0.3484612,0.080538,-0.072349034,0.2982418,-0.108083725,0.11771307,-0.1618332,-0.1627159,-0.15885545,0.18091649,-0.24823813,0.18492492,0.099856704,-0.16951498,0.21467929,0.31991598,0.28673664},
{-0.24427374,0.008836382,0.15938519,-0.11344781,0.23530714,0.07097541,0.16750146,0.41628316,-0.30809084,0.0016744448,-0.064671725,0.23256926,-0.07631783,-0.3237701,-0.17162476,-0.006863548,0.3783608,-0.2238451,-0.11834128,0.14724092,-0.13335055,0.2428035,0.3328175,0.18755755,0.32209468,0.02892288,-0.05312757,0.04210074,-0.33298454,0.1591022,-0.2755458,-0.04381949,-0.110868685,-0.37046,0.12941168,-0.16698846,0.23684539,0.25396368,0.11818091,-0.036394086},
{0.119694434,-0.61203784,0.06117052,-0.122794345,-0.11878533,-0.20866466,-0.2943893,-0.2868143,-0.3332662,-0.21761653,-0.055940323,-0.24561943,0.03555619,-0.35404575,-0.33010438,0.18752399,-0.38787767,-0.09954644,-0.32024682,0.14364886,-0.01849381,-0.24565428,0.02103353,-0.28753063,-0.4799824,-0.45710093,-0.5636191,-0.022436788,0.13227281,-0.030089322,0.37451598,-0.2085775,-0.04364545,0.018545624,-0.15545873,-0.18425913,-0.096760824,-0.21180542,-0.2529618,-0.07979125},
{0.2982033,-0.3213842,0.13101034,0.02579741,0.16648339,-0.08414302,-0.035161287,-0.011349729,-0.0074029304,0.1643404,-0.11335155,-0.3559918,0.12175907,-0.10665427,-0.15272784,-0.10132411,-0.32787177,0.15381812,0.021044912,0.17858256,-0.1334749,-0.2800992,-0.25563157,0.06154773,0.1217761,-0.11122766,-0.29269597,-0.39125234,0.0072597465,0.0080595855,0.21231954,0.29160416,0.12726416,-0.31046185,0.0141716665,0.17351858,0.20237538,-0.38443756,-0.15430686,0.0010228696},
{0.3198465,-0.49216133,0.06299705,-0.22681727,-0.08985323,-0.15943624,0.1276358,-0.5293123,-0.16537653,-0.17396004,-0.040629458,0.13508902,-0.13172701,0.44631934,-0.085367374,0.10087848,0.094475895,-0.14117736,-0.3417311,-0.08372872,0.26534876,0.052266758,-0.49893463,-0.35486144,0.18635269,0.15286288,0.19205147,0.41079947,-0.06662206,0.3362622,0.16508093,-0.31534132,-0.11919313,-0.15489472,-0.19296803,0.3323613,-0.023089819,0.26010144,0.21653844,-0.28811592},
{0.25771362,-0.36491987,0.13872276,-0.15637529,-0.25992912,-0.2943527,-0.19336165,-0.21934704,0.3349574,-0.043827254,0.19319172,0.07349608,-0.053660586,-0.17679828,0.27260116,0.061522607,-0.11062644,0.06292437,0.36523828,0.053741846,0.24708422,-0.14030638,0.11278413,-0.17438845,0.12255031,0.065219365,-0.15947916,0.08314782,0.2699413,0.14900963,0.055218603,0.1558091,0.30749267,-0.29680157,-0.13939756,0.36758378,0.23022681,0.14577647,-0.034725044,-0.032127712},
{0.062180664,-0.14785331,0.21927,-0.11337489,0.2705563,-0.30638772,0.2712256,0.023623824,-0.33474028,0.3161694,-0.07991426,-0.12711729,0.025489321,-0.002886749,-0.3885626,-0.17745408,-0.1946237,-0.22656693,-0.3409366,0.3095845,-0.0030458963,0.3586998,0.18545927,0.07270198,-0.5576382,-0.2968756,0.18174666,-0.17202929,-0.06500339,0.2474355,-0.3526304,-0.08982257,-0.25814882,0.1437481,0.2554383,-0.064101376,0.3613879,-0.046657693,0.0798859,0.2757796}};



PROGMEM const float perceive_kernel_self[15][40] = {{0.00472426,  0.11226495,  0.01179993, -0.05598756, -0.02410705, -0.02739789,
 -0.06830911, -0.05634673,  0.09649715,  0.08619135,  0.06939911, -0.06247471,
  0.12716275,  0.0367239 ,  0.13030446,  0.08279061,  0.08644087, -0.0311308,
 -0.17369854,  0.02842498,  0.12516299,  0.04413626, -0.06420962,  0.06570185,
  0.02350835, -0.00905076,  0.10412635, -0.06908249,  0.05582772,  0.08252051,
  0.04776502,  0.1242763 , -0.0219869 ,  0.10586216,  0.03196585, -0.0718091,
 -0.0598103 , -0.00167655,  0.01454554,  0.11083029},{-0.10487968, -0.04217776, -0.02742272,  0.00904363, -0.25290847, -0.0780633,
 -0.12384862,  0.16735062, -0.19710127, -0.00942897,  0.00586721,  0.12821326,
  0.0207458 ,  0.1251068 ,  0.07530893, -0.17536867, -0.01596842, -0.02825877,
  0.04754998,  0.08725545,  0.1136774 , -0.08217765, -0.07530184, -0.10912588,
 -0.0479396 , -0.13612005,  0.09297894,  0.00836653, -0.11333457, -0.04404762,
 -0.00647702, -0.04528228, -0.07783911, -0.08769874,  0.02942027,  0.05179777,
 -0.04961622,  0.08574804, -0.08876238, -0.01445412},{-0.19822009, -0.00343851, -0.03893053,  0.15161382, -0.1496734 , -0.00563844,
 -0.10591499, -0.10570505,  0.11606817,  0.03561531,  0.18141781, -0.07856987,
  0.02575611,  0.05768482,  0.12499497,  0.04336018, -0.04004989, -0.09161751,
  0.05029271,  0.04078938,  0.00321774,  0.1152683 , -0.01802554, -0.06057659,
 -0.11831969, -0.04444473,  0.06516824,  0.04333385, -0.09658509, -0.0279512,
 -0.06003016,  0.1497262 , -0.16557546,  0.05836576,  0.1377943,  -0.1587336,
 -0.07883679,  0.1462441 , -0.07052766,  0.0355987 },{-0.09096844,  0.09382091,  0.04766189, -0.00352518, -0.23706758, -0.05549218,
 -0.16678345,  0.0461404 , -0.1632725,   0.1670632,  -0.02171768, -0.2833428,
  0.1829739 ,  0.24957834,  0.05867164,  0.06775071,  0.03376953, -0.19195756,
 -0.05668236,  0.13826996,  0.04916538,  0.10024513, -0.1076435,  -0.22786734,
 -0.09168876,  0.02795221,  0.00949204,  0.23888236, -0.1378375,  -0.03004151,
  0.00196527,  0.11526914,  0.06181296,  0.08269621,  0.16424488,  0.00185844,
  0.06377595,  0.2489316,  -0.0425602 ,  0.0937915 },{ 0.32462314,  0.0609579,  -0.04396904,  0.08324298,  0.3348715,  -0.01660525,
  0.0725414 ,  0.08899498,  0.01282325, -0.19520324, -0.06212769,  0.2479498,
  0.02440916,  0.012508  , -0.15460807, -0.02291259, -0.04410926,  0.0990369,
  0.03034635, -0.05966022,  0.21285789, -0.06906463,  0.15406525, -0.13896126,
 -0.0481463 , -0.03029195,  0.01734863, -0.04442092,  0.09392197,  0.10746638,
  0.14454597, -0.06920628, -0.04353456, -0.05558949, -0.145181 ,   0.15484618,
 -0.03801889, -0.13365488,  0.07620953, -0.10681406},{ 0.06183445,  0.0457995,  -0.00873687, -0.13601294,  0.18445022,  0.04302209,
  0.02641114, -0.04005921, -0.20386286,  0.02558509,  0.0264168,  -0.25132492,
  0.23385726,  0.10559432, -0.03114533, -0.14703658, -0.1724109 , -0.28668502,
  0.10353148, -0.03805754, -0.0310579 , -0.26931307, -0.10262727,  0.29681072,
  0.06689591,  0.05221628, -0.11675395,  0.21507223,  0.11700821,  0.04382219,
 -0.1665296 ,  0.04565736,  0.07108884, -0.01433347,  0.1018825,   0.23427166,
  0.13562258,  0.04845576,  0.01200795,  0.127637  },{0.1045845,  -0.05547679, -0.26695094 ,-0.05881383,  0.13188794, -0.16688175,
  0.10703292, -0.1375849 , -0.32376713, -0.10099877, -0.09982389, -0.05643502,
 -0.01020906, -0.08600179, -0.12806392, -0.09198917,  0.00937382,  0.18065158,
 -0.20217994, -0.13377032, -0.08501011, -0.04655267,  0.01036491,  0.07036661,
  0.04519083,  0.00462151, -0.05202822, -0.31716707,  0.10748363, -0.04458118,
  0.00896524, -0.1468686 ,  0.10543398, -0.01234106, -0.1542772,   0.23926774,
  0.13044295,  0.05867612,  0.13779147,  0.01085849},{ 1.25137880e-01, -9.67965741e-03,  2.82929633e-02 -9.69363302e-02
 -1.24637753e-01,  7.41882846e-02,  5.91549836e-02,  1.28104523e-01,
 -2.06518993e-01, -3.69005024e-01, -6.81956112e-02,  2.34498620e-01,
  1.00814648e-01,  1.95154265e-01, -1.78577360e-02,  1.96668774e-01,
 -1.66260302e-01,  3.37196849e-02,  4.22147840e-01,  6.34459853e-02,
  5.74997142e-02, -2.19021529e-01,  1.02292374e-01, -7.69898653e-01,
 -2.33121186e-01,  1.87989399e-01, -1.36144236e-01,  2.59478301e-01,
  4.10970475e-04,  8.86001885e-02,  1.83773741e-01,  1.48543030e-01,
 -9.09537897e-02, -2.58703269e-02, -6.32428527e-02,  1.31078854e-01,
 -1.07522737e-02,  8.41274634e-02, -1.29453361e-01,  2.06179529e-01},{-0.40675217,  0.00529399,  0.01914687 ,-0.00255373 , 0.37654087, -0.15879932,
 -0.00138133,  0.2591638 , -0.04287037,  0.19040224,  0.04431801 , 0.30709496,
 -0.04213042, -0.07724117, -0.17953089, -0.3015506 , -0.01339083 , 0.24262331,
 -0.20000991, -0.2504984 , -0.19375105, -0.0622488 ,  0.07961272 , 0.21533874,
  0.01790074,  0.02341917, -0.17432836,  0.09953991, -0.0160748 , -0.20374833,
 -0.04073061,  0.15475495, -0.2581371 , -0.03956203,  0.09503375 ,-0.6130779,
 -0.20006947, -1.0200199 , -0.23468219,  0.05653416},{-0.17929502,  0.06104999,  0.04806235,  0.02856853 , 0.22838175,  0.10572618,
  0.18672286, -0.11603826, -0.09521556,  0.04861732, -0.02751424, -0.19000131,
  0.00653374, -0.40782312,  0.15185566, -0.11077325, -0.07963862,  0.23272918,
  0.3574032 , -0.09476359, -0.1769622 ,  0.01515018, -0.08467327,  0.1356269,
 -0.10569527,  0.00354424,  0.01767136,  0.14968088, -0.07728305,  0.0821019,
 -0.10376913, -0.2412247 ,  0.07752621, -0.13120747,  0.11246727, -0.54270864,
 -0.01158483,  0.04957869, -0.01143438, -0.08952321},{ 0.03651505,  0.07139917,  0.04597286 ,-0.12957941,  0.12108248,  0.09953071,
 -0.02181544, -0.13784136, -0.01217867, -0.1886827,  -0.06201813,  0.20541516,
  0.05469425,  0.25610304, -0.10478804, -0.01731685,  0.04119355, -0.12179717,
 -0.34936902, -0.0205563 ,  0.08491303, -0.03481086,  0.19497615, -0.59665924,
 -0.16295014, -0.00705645, -0.06000798,  0.10221808, -0.04093041, -0.01968902,
  0.04688465,  0.14854218, -0.12513572, -0.13129303,  0.05851199,  0.2040228,
  0.15728496,  0.16473925, -0.06091615,  0.05630939},{0.02314506, -0.01296861,  0.17272455, -0.13368762 , 0.05999165, -0.12057685,
 -0.15187633,  0.2900139 , -0.44685546,  0.18432045,  0.08194064,  0.12478152,
  0.06539115,  0.15000609, -0.22913268,  0.00458328, -0.08385149, -0.42158177,
  0.24807301,  0.00341212,  0.14096443, -0.21356441,  0.13308194, -0.6562869,
 -0.22936903, -0.03869464,  0.15283796, -0.0785362 , -0.28426713, -0.06854136,
 -0.12008239,  0.09977115,  0.13151838,  0.16216294,  0.01234907,  0.19324784,
 -0.05216445, -0.11978357, -0.17592604,  0.047475 },{ 0.20300159, -0.12452695, -0.49876848 , 0.01046401 , 0.2709277,  -0.09167603,
  0.16216227,  0.2898015 , -0.05873931, -0.05181378, -0.05763916,  0.0354826,
  0.01059521,  0.5237938 ,  0.27037904,  0.04217441, -0.11308822, -0.07970046,
  0.19778302,  0.10724019,  0.16631857, -0.01692601,  0.1009494,   0.06260837,
 -0.24891461, -0.2789945,  -0.09872648,  0.0217792 ,  0.0125458 ,  0.10144069,
 -0.04796647, -0.28515798,  0.08512089,  0.05132297, -0.06652278,  0.21355225,
  0.19524832, -0.02457395,  0.13143009, -0.06318454},{-0.3150247,   0.00618879, -0.33214483,  0.09776791 ,-0.6816252,  -0.01984664,
 -0.04727738,  0.06767209, -0.11783158,  0.17588896,  0.19288994,  0.0836513,
  0.0749364 ,  0.0464961,   0.12631214, -0.13437606, -0.11612181,  0.14659624,
  0.17110085,  0.17965734, -0.05933522, -0.00250653, -0.1694239,   0.08102252,
 -0.03593536, -0.05496605,  0.1010941 , -0.25856555, -0.17420019, -0.20221049,
 -0.09033168, -0.04538311, -0.05496654, -0.06106085,  0.19009374,  0.37870863,
  0.01528983, -0.05264216, -0.12309665,  0.16910475},{-0.24171524,  0.03106955, -0.09844778 , 0.11835413 ,-0.1650725 , -0.14362928,
 -0.076987  , -0.13403413,  0.17661124,  0.09213076, -0.00295895,  0.2653204,
  0.23793106,  0.11615127, -0.01503738, -0.13911526,  0.04065366, -0.16477156,
  0.35579225,  0.11881652, -0.0363358 ,  0.13822499,  0.02455916,  0.11037412,
 -0.09809712,  0.01695985,  0.08942883,  0.02998393,  0.24356072, -0.01745171,
  0.06994335,  0.14536303, -0.09030338, -0.01399509, -0.08437251, -0.19381899, -0.01244074,  0.29216957,  0.07160104,  0.11733668}};

PROGMEM const float perceive_kernel_top[15][40] = {{ 0.06121383,  0.096651  , -0.0132988,   0.08538626, -0.02210221, -0.12444505,
  0.1456544 ,  0.10074375,  0.05599243,  0.09249672, -0.14817043,  0.04264409,
 -0.08925367, -0.08656584, -0.11744452,  0.07457111, -0.09689849,  0.0122884,
 -0.0252094 , -0.01188317, -0.01869796,  0.05032636, -0.15738039, -0.08955552,
 -0.0197476 , -0.02606784, -0.15865447,  0.0235289,  -0.0559094,   0.02066453,
  0.12771372,  0.01088439, -0.00604707, -0.04054188, -0.19465493,  0.07188266,
  0.09151066, -0.05212076,  0.05266301,  0.02930644},{ 0.20344664, -0.16791017,  0.21087505,  0.07419901, -0.3090158,  -0.12353636,
  0.22485161,  0.14880122, -0.40181488,  0.15076193, -0.03232244,  0.02190796,
 -0.09876227,  0.18025851, -0.16154596, -0.13170397, -0.07262512, -0.21268268,
  0.03140359, -0.13662462, -0.30830604,  0.09910489,  0.15164235, -0.31173664,
  0.17660287,  0.06268062, -0.08624946,  0.07863393,  0.01187073, -0.1798367,
  0.24029906, -0.07816663,  0.0023301,  -0.2470285,   0.05049344,  0.15921377,
  0.01560785,  0.05777179,  0.11650667,  0.057831  },{ 0.14024696, -0.18311429,  0.22539873,  0.06609372, -0.11416972, -0.09100574,
 -0.05003642, -0.04179292, -0.06848316,  0.09554595,  0.11970335,  0.09357943,
 -0.05908339,  0.11185972,  0.06732634, -0.06098791, -0.09059455, -0.12974362,
  0.05374058, -0.22677368, -0.06292461,  0.10507672,  0.36710244, -0.10657334,
  0.23506959,  0.12894496,  0.02939175, -0.12307508,  0.0324556,   0.03020594,
  0.09712016,  0.03819004,  0.16134277, -0.01814983,  0.00143968, -0.00770734,
  0.08031286, -0.0012143,  -0.01869024,  0.13698481},{1.89568222e-01,  5.08456342e-02,  1.36914864e-01,  1.59240261e-01,
 -1.47550702e-01, -1.31791169e-02,  6.37803376e-02,  1.03167174e-02,
  2.02047732e-02,  1.19168594e-01,  1.17500462e-01, -2.25895401e-02,
  1.54191535e-02,  2.50498593e-01, -4.15789261e-02,  2.11284935e-01,
 -2.08548173e-01,  4.93433652e-03,  1.49341887e-02,  1.37999933e-02,
 -1.63720459e-01,  1.32119834e-01,  1.54580802e-01, -1.04536287e-01,
  8.78798813e-02,  9.19892639e-02, -2.12597864e-04,  1.28031015e-01,
 -4.24154438e-02, -9.30017829e-02,  1.79303050e-01,  3.58235426e-02,
 -3.97127168e-03,  6.28258958e-02,  2.19183967e-01, -4.14611101e-02,
 -1.40147470e-02,  1.57062367e-01,  7.94022605e-02 , 2.37296615e-02},{-0.22880784,  0.25036177, -0.08270078 , 0.106988,    0.03335821,  0.2064852,
   0.19881871, -0.07081675, -0.01179515,  0.05154467, -0.10004899, -0.21503937,
 -0.01578879,  0.08650583,  0.02933942, -0.17519468,  0.23727976, -0.10544454,
 -0.07348602, -0.22443515, -0.05525342, -0.0603665 , -0.02218767, -0.19886063,
 -0.05026969, -0.13765775,  0.05288269,  0.20602499,  0.06924142,  0.04305606,
  0.20599762, -0.10891309,  0.03870065,  0.21644092, -0.02157936,  0.12210742,
 -0.09804575,  0.04089319, -0.05974847,  0.01283043},{-0.07043017,  0.26244023, -0.04518699,  0.04412939,  0.05521358, -0.06542546,
  0.0492539,   0.10893929, -0.02061571,  0.12860453, -0.09906057,  0.00373445,
 -0.06535557, -0.03493566, -0.20884302,  0.23776647, -0.04728671,  0.2446432,
  0.09164657,  0.19608611,  0.05961167,  0.0173953,  -0.24063665,  0.05472295,
 -0.10201962, -0.02917387, -0.04585294,  0.15746401, -0.21025078, -0.02089775,
 -0.06683174,  0.03800384, -0.2042195 , -0.07082655, -0.04419537,  0.03955165,
  0.04451422,  0.14347428, -0.04346586, -0.12884516},{-0.07125263,  0.10090528, -0.3333205 , -0.18466087,  0.13610092,  0.19813998,
 -0.24544701,  0.06371017,  0.06083267, -0.19256224, -0.26866084,  0.23535763,
  0.04044947, -0.40067315,  0.15300587,  0.01842522,  0.10115474,  0.13101892,
 -0.18722342,  0.09676388,  0.11032547, -0.09908941, -0.07050757,  0.15535893,
 -0.04463276, -0.05292824, -0.3309146 , -0.2054832,  -0.19623733,  0.01927391,
 -0.22737814, -0.00634592, -0.13323317, -0.36117852, -0.26741397,  0.07998262,
 -0.07036647,  0.01459211, -0.04345139, -0.13050856},{-1.07814424e-01,  2.25888088e-01, -8.32202192e-03,  3.06874886e-02,
  2.03867242e-01,  2.65030144e-03,  1.82486475e-01,  5.86288981e-02,
 -5.17837182e-02,  7.07057565e-02,  8.13174322e-02, -2.17214987e-01,
  2.90014185e-02,  1.70010105e-01,  1.11257203e-01, -5.50595066e-03,
  3.43270898e-02, -2.35845730e-01,  1.20997436e-01, -3.09158623e-01,
 -1.71285823e-01, -9.16281044e-02, -2.56057940e-02, -4.83586490e-01,
 -4.55186283e-03, -1.06680251e-04,  2.36278474e-01,  1.60481974e-01,
  5.49332006e-03,  1.64714918e-01,  5.65189496e-02, -3.11337680e-01,
 -5.20961024e-02,  2.27226511e-01,  1.15152270e-01,  4.08410430e-02,
 -1.10738382e-01,  1.99169442e-01, -1.44082665e-01,  1.55567825e-01},{0.01421167, -0.05944391,  0.04941515, -0.13160364,  0.1507591,  -0.22544229,
  0.07542288, -0.2254941  ,-0.17671856, -0.05979646, -0.16296902,  0.08640285,
 -0.16224067,  0.0757046  ,-0.01647714, -0.37885928, -0.01555312 , 0.03167096,
  0.00679061, -0.22556081 , 0.01429062, -0.09085959, -0.01112399  ,0.13599339,
 -0.185693,   -0.20184593,  0.4052239,   0.14330223,  0.28691867, -0.19225007,
  0.03594005, -0.01275204,  0.33906424, -0.00647204, -0.18885684,  0.07011633,
  0.18608466, -0.44122595,  0.02809362,  0.0824572 },{ 0.17795797, -0.13517565, -0.10146568, -0.20960864,  0.11911963,  0.00203858,
 -0.1634994 ,  0.2662731 ,  0.06002144, -0.1415157,  -0.10613814,  0.15545808,
  0.00358256, -0.32022983, -0.13525122,  0.07762264, -0.09560835,  0.03562045,
  0.09312176,  0.15551898,  0.16240583,  0.07297499,  0.01379404,  0.28462878,
 -0.01970416,  0.08576998, -0.19601713, -0.2521729,   0.10542589, -0.04447259,
 -0.3429276 ,  0.20246664,  0.11363815, -0.31796068, -0.3445424,  -0.12585604,
  0.06572082,  0.044105,   -0.05437037, -0.13488702},{-2.37353951e-01,  1.18738174e-01,  8.69726911e-02,  8.66419598e-02,
  1.22110117e-02,  2.19331965e-01,  1.19998090e-01, -1.07431374e-01,
  1.45027444e-01,  1.49084747e-01, -2.50570402e-02, -1.26400054e-01,
  2.74095684e-02,  1.84705764e-01,  1.32736713e-01, -9.95588154e-02,
  3.01825125e-02, -1.82525311e-02, -2.04267502e-01, -1.77593529e-01,
 -5.65895289e-02, -1.34258538e-01,  1.41428405e-04, -4.76143956e-01,
 -4.40589376e-02, -5.34118488e-02, -1.97773892e-02,  2.38993943e-01,
  8.65938812e-02,  8.66590664e-02,  4.53305393e-02, -3.28246981e-01,
 -2.46511236e-01,  1.99567780e-01,  2.17823368e-02, -6.51699081e-02,
 -1.69471025e-01,  1.74259916e-01, -5.29308431e-02,  1.08558416e-01},{0.04544047,  0.18745975,  0.15187883,  0.15328908, -0.1954233,  -0.00925673,
  0.09872236, -0.06762797, -0.26042283,  0.11024422, -0.03550024, -0.00721058,
 -0.01009001,  0.2725304,  -0.2576419 ,  0.1906317,  -0.08816396, -0.02835169,
 -0.06945303, -0.1713143,  -0.29865375,  0.15974638, -0.26216647, -0.464697,
 -0.01797493, -0.00758415,  0.04264428,  0.14028956, -0.11789665,  0.18007329,
  0.20453691, -0.11078788, -0.08518956, -0.05859375,  0.13593304,  0.07036259,
 -0.14928944,  0.18761456,  0.02855369,  0.06888569},{-0.07214273,  0.30468383, -0.31188646,  0.13771057,  0.09689043,  0.15977642,
  0.2949502,  -0.06090799, -0.24817726,  0.15462922, -0.44186613, -0.03061769,
 -0.02369448, -0.15815099, -0.09608351, -0.07112297,  0.20890273, -0.00602346,
  0.06228247, -0.04643388, -0.06283049, -0.10681462, -0.08110433, -0.1806114,
  0.10295656, -0.38736644, -0.6046955 ,  0.08692984, -0.0839571,   0.0944739,
  0.18453684, -0.16742569, -0.35900086, -0.10255502, -0.14587519,  0.13219728,
 -0.15894093, -0.14673604,  0.05256502,  0.00334473},{ 0.22326754, -0.15873003,  0.1836396,  -0.04905625, -0.34460953, -0.36022502,
  0.07359383,  0.07047193, -0.26379526,  0.12412608, -0.06968199,  0.15452601,
 -0.12183999, -0.01907275, -0.20552363, -0.05207895, -0.16544636, -0.22102709,
  0.02077249, -0.22177926, -0.2869271 ,  0.13670082,  0.25764385, -0.19575907,
  0.18589756,  0.16307543, -0.02362325, -0.01424298, -0.12139662, -0.09884887,
  0.16156355,  0.14112954, -0.03490299, -0.38660482, -0.02774114,  0.0548033,
  0.0598113 ,  0.07620791,  0.11086245,  0.1090616 },{ 2.6584728e-02,  5.0985597e-02, -2.1388358e-02 ,-3.5304888e-04,
 -6.9853231e-02, -6.4480128e-03,  1.5847994e-01, -4.9649985e-05,
 -8.2203448e-02,  1.3883586e-01, -2.2489265e-01, -3.1365950e-03,
 -1.9657690e-02,  3.7733164e-02, -6.2506750e-02, -1.8153900e-01,
 -4.3417484e-02, -6.0529005e-02,  8.6803868e-02,  1.6125550e-02,
 -1.5588503e-01,  1.9878980e-02,  2.6197299e-01, -2.0967558e-01,
  2.7540490e-01, -4.8650067e-02,  6.6881269e-02,  8.3056368e-02,
  8.9742191e-02, -1.2569301e-01, -6.7443363e-02, -2.4446946e-02,
  1.6027151e-02,  7.1911775e-02, -6.6902712e-02,  8.0075152e-02,
  1.3557045e-01, -8.3827347e-02, -1.3755618e-01,  8.3639711e-02}};

PROGMEM const float perceive_kernel_bottom[15][40] = {{ -0.11899661, -0.14004979,  0.10243365,  0.1674852,   0.00160418,  0.02877276,
  0.05471601, -0.04886432, -0.07675144, -0.13068359, -0.14109269,  0.02587849,
 -0.02437816, -0.03700348, -0.1395682,   0.01150174,  0.07231826, -0.15228717,
 -0.03353919,  0.00953492,  0.14691767,  0.03309   ,  0.17149156,  0.04428164,
  0.05066732,  0.1221908 , -0.06963129, -0.03257539, -0.12302379, -0.10267369,
  0.065914,   -0.07846653,  0.11834852, -0.12462414, -0.04742591, -0.02146628,
  0.07130899, -0.03081444, -0.01450819, -0.10592127 },{0.06459607, -0.20364667,  0.04801347,  0.0819966,  -0.1313116,  -0.1598948,
  0.00714804,  0.09994755, -0.09948853,  0.07484069,  0.1106636,   0.07974536,
 -0.0896351,   0.07270038, -0.02195342, -0.10794995, -0.17765528, -0.02794054,
  0.04788226, -0.2436511 , -0.02363226, -0.11727114,  0.0136033,  -0.24777803,
 -0.02919619,  0.01192229,  0.00117079, -0.16388945, -0.02326739, -0.2910366,
 -0.07434229, -0.10253905, -0.02278535, -0.06116689, -0.04193034,  0.09387816,
  0.01408338,  0.00581315,  0.01605251,  0.12344822},{ 0.07919539, -0.07898702 , 0.2479433,   0.1391834,  -0.09935414, -0.1850231,
  0.0047804,   0.01475162, -0.07432084,  0.06193923, -0.0559537,  -0.09366196,
 -0.12208955,  0.25913417, -0.01271899, -0.0958963 , -0.1494642 , -0.00452177,
  0.1045249,  -0.13565835, -0.05048031, -0.02916408, -0.03174751, -0.17385003,
  0.07086316,  0.18763945, -0.00303287, -0.08966709, -0.05311425, -0.18041793,
 -0.07464116, -0.00271961,  0.19165768, -0.01405687, -0.02381125, -0.04994979,
  0.19677383, -0.00480243,  0.08916583,  0.00631286},{-0.03835653, -0.1221369 ,  0.23479363 , 0.25367162,  0.00742201 ,-0.30842674,
  0.10621063,  0.16567208, -0.04145775, -0.14772606,  0.09797522, -0.11296812,
 -0.04847462,  0.23728   , -0.1600764,   0.14531419, -0.05520109, -0.11309297,
  0.07851429,  0.02038792,  0.04248623,  0.15414317,  0.04224446, -0.19333246,
 -0.11757393, -0.03472841, -0.11418404,  0.09242963,  0.03522392, -0.3110195,
 -0.08810934,  0.07668535,  0.03702393 ,-0.10386184,  0.0305301,  -0.05033367,
  0.2224267,   0.1210587 ,  0.08938288, -0.20922117},{ 0.21760002,  0.11889137 ,-0.21440628, -0.20246714,  0.10717501 , 0.42445832,
 -0.01726486, -0.06987271,  0.08076204,  0.11042283,  0.04273796, -0.02102854,
  0.2872973,  -0.11025261,  0.27509692, -0.15762544,  0.22516543,  0.06115633,
 -0.20189273, -0.03526734,  0.14869185,  0.05629087, -0.08706154, -0.11586494,
  0.10250437,  0.01726339,  0.19496383, -0.07188033,  0.22813168,  0.22517808,
  0.22071192,  0.01728086, -0.01095534,  0.15418303,  0.18197034,  0.20542894,
 -0.14033289, -0.09328125, -0.16497329,  0.38510168},{-0.07044607, -0.00974139, -0.06952187,  0.03597564,  0.0444034,   0.03785525,
  0.0684587,   0.14839454, -0.1120454,  -0.0404815,   0.11883325,  0.0450827,
  0.07397495, -0.23807885, -0.18405169,  0.14464608,  0.16487889, -0.37737623,
 -0.04669128,  0.21477686, -0.03851745,  0.1189094,   0.21249011, -0.01178218,
 -0.10422648, -0.05636866, -0.07549865,  0.12417139, -0.01611363, -0.2539029,
 -0.07886738,  0.02761539, -0.12629648,  0.01649433,  0.06348787, -0.02257601,
  0.02522822,  0.11110003,  0.1151674,  -0.14457789},{-0.06313894,  0.16653548 ,-0.12062187, -0.2079985,   0.05464221,  0.15469995,
 -0.14094272,  0.01460036,  0.15421984,  0.0404063,  -0.39481273,  0.06251401,
  0.16880423, -0.2187556 , -0.04481585,  0.09440321,  0.16572146,  0.19931726,
 -0.106876,    0.06636678, -0.13115546, -0.05059726,  0.01937526,  0.27713728,
 -0.01380473, -0.09094556,  0.20185839, -0.15248038, -0.30112505,  0.189113,
 -0.12181295,  0.06846081, -0.2853824,  -0.1546087 , -0.02929435,  0.13881794,
 -0.07084302, -0.01013985, -0.07603613, -0.01821609},{ 0.05487731, -0.08168122, -0.05761194,  0.09135631 , 0.39650166, -0.2596566,
 -0.03012482,  0.1864757 , -0.06248478,  0.03213387,  0.22764653, -0.02320307,
  0.03393656,  0.21080083,  0.07039826, -0.23329513,  0.02312402, -0.09624904,
  0.11471885, -0.08745032, -0.07148963,  0.22572108, -0.16803718, -0.49621,
 -0.21341825,  0.04156823, -0.10583583,  0.10863703,  0.15773274, -0.27917576,
  0.08217309, -0.05927555, -0.12005899,  0.17337666,  0.12740123,  0.12804657,
  0.02761127,  0.14420632,  0.07952712,  0.10281737},{-0.03969494, -0.26603106,  0.19774768,  0.02843467, -0.0364861,   0.2326051,
  0.13328849,  0.06705398, -0.04120715,  0.05939846, -0.0907786,  -0.09857582,
 -0.2274688,   0.19931793,  0.18934838, -0.33613253, -0.2321539,   0.23467702,
 -0.2557658,  -0.20332158,  0.0898108 , -0.65632665, -0.18585677,  0.00926931,
  0.02740589,  0.02763325,  0.19301364,  0.15481724, -0.00637995, -0.10824817,
 -0.01111829,  0.06368581,  0.04842257, -0.14173803, -0.24056977, -0.28688306,
  0.03521711, -0.1893507 , -0.21118802,  0.01824506},{-0.0688244, -0.03719986, -0.33091536, -0.32282647,  0.02440726, -0.00961099,
 -0.15121672, -0.18241324,  0.04991334,  0.07661391, -0.08518145, -0.20102441,
 -0.057546,   -0.44660714, -0.10200658,  0.18123835, -0.12864679,  0.00320026,
  0.07918122,  0.10816828, -0.08709896, -0.18573152,  0.07024418,  0.18723705,
 -0.00233419, -0.07198349, -0.00550154, -0.19768807, -0.2628054,  -0.01623207,
  0.06742962, -0.14469375,  0.03922147, -0.04715766, -0.06967956, -0.32560664,
 -0.12366958,  0.04915833,  0.08437176,  0.07027738},{ 0.13331603,  0.00311469 , 0.02383298,  0.02641081,  0.14368337,  0.08378634,
  0.04776642,  0.03647172,  0.02921345, -0.06169769,  0.1961875,  -0.01634187,
  0.17513101,  0.2583226 ,  0.13046375, -0.15982458, -0.10849264, -0.4203371,
 -0.02102615,  0.00434829,  0.07092291,  0.12566254, -0.16414091, -0.52784014,
  0.09874095,  0.10202686,  0.06879119,  0.0727539,   0.1446717,  -0.17770973,
  0.17704839, -0.01596773,  0.04638727,  0.11695781,  0.05145612, -0.00716174,
 -0.13178301,  0.02517601, -0.05265478,  0.02505656},{-0.12972683, -0.16508032,  0.13021262,  0.15640557 , 0.20994174, -0.4254074,
  0.11138851,  0.19513217, -0.1390005,   0.06612121,  0.0254818,   0.13682573,
 -0.10813171,  0.14331955, -0.16218339,  0.14179857, -0.10629939, -0.24473086,
 -0.27099377, -0.06516909, -0.02546648,  0.16028783,  0.03171442, -0.5002101,
 -0.21026982, -0.11501171, -0.01316166, -0.02634585, -0.08093804, -0.5485532,
 -0.29446262, -0.03205343,  0.06429159, -0.03103429,  0.0686344,   0.14991063,
 -0.10451609,  0.08129076,  0.1532943,  -0.05041391},{ 0.02612685,  0.01257497 ,-0.49703118, -0.26600823,  0.06240285,  0.15548138,
 -0.11209949,  0.01386672, -0.08629683, -0.00629003,  0.02721566,  0.15868674,
  0.23927984, -0.15084344,  0.06763835,  0.17904814,  0.16746385, -0.00755489,
  0.20198162,  0.10063343,  0.06321566, -0.09948817,  0.08533656,  0.11182044,
  0.1462944 ,  0.01518504,  0.18024237, -0.2086812 , -0.0430853,   0.11676519,
  0.13624696,  0.09530613, -0.03677225, -0.05978028,  0.22642432,  0.19693185,
 -0.2400995 , -0.06676855, -0.2328975,   0.25823343},{ 0.00641344, -0.16417561,  0.10755763,  0.14856249 ,-0.18023936, -0.4991346,
 -0.00311522,  0.17265703, -0.21904287,  0.09825344, -0.00195883,  0.08616323,
 -0.2560777 ,  0.09896489, -0.27298698, -0.0440756,  -0.41054553,  0.00786501,
  0.08964285, -0.16002719, -0.00266487, -0.0816239,   0.01230158, -0.15381251,
  0.0381346 , -0.08224104, -0.14634971,  0.04536084, -0.21692516, -0.41577214,
 -0.17810619,  0.04715713,  0.03409323, -0.36222437,  0.03337841,  0.08365318,
  0.12669346,  0.06610363,  0.10053495, -0.03335744},{-0.00681129, -0.23517859,  0.09348891,  0.05684435, -0.12759918, -0.03577486,
  0.09656718,  0.20037475, -0.04318817, -0.04557794,  0.04804259, -0.05589677,
  0.06231381,  0.32524213, -0.00744012, -0.13998441, -0.1114466,  -0.25290838,
  0.00363137, -0.04099021,  0.12717468, -0.32512516,  0.0207737,  -0.17098913,
  0.17627642,  0.03402167,  0.11935946,  0.00135519,  0.09192175, -0.3832165,
  0.12097389, -0.08621008,  0.07419971,  0.07803375,  0.08438629, -0.1390119,
  0.271763  , -0.03103935, -0.10357388,  0.10281125 }};

PROGMEM const float perceive_kernel_left[15][40] = {{-0.09232815, -0.1271057 ,  0.02601121, -0.12609814,  0.03053035, -0.00446408,
  0.0584521,   0.08527375,  0.02360988, -0.11715934, -0.11013688,  0.05243974,
 -0.07098105, -0.07671334, -0.10305943, -0.10445411, -0.02755104,  0.06800041,
 -0.11347696, -0.08847763, -0.14667052, -0.16512957, -0.16319291, -0.10624515,
  0.02650111,  0.07263578, -0.10500602,  0.06489004,  0.10899353, -0.31348476,
  0.10736105, -0.05716266,  0.18617107,  0.0445926,   0.12075626,  0.02211321,
  0.06932338, -0.00397468,  0.10258955, -0.09206723},{ 0.01504828, -0.12060396, -0.02327835, -0.16907828,  0.10383727, -0.20527701,
  0.00677566,  0.06336713, -0.04259264,  0.00324497, -0.11169073,  0.03263847,
 -0.14202134,  0.03910334, -0.01931839, -0.06925534, -0.08101257, -0.14315456,
  0.12447072, -0.11477832, -0.01366254, -0.2114938 , -0.08081138, -0.04855324,
  0.08355465, -0.00377625, -0.17406979,  0.08797855,  0.07427467, -0.17739595,
 -0.14583682,  0.01308383, -0.09608924, -0.19192027,  0.01408746, -0.00616533,
 -0.02299072,  0.10391565,  0.02930104, -0.0196279},{ 0.05541787, -0.00483215,  0.12380378, -0.02755844, -0.03459799, -0.07434744,
  0.09087737,  0.20058857,  0.1723028,  -0.03752904, -0.21560697,  0.03910508,
 -0.01225366, -0.11470574,  0.06545258, -0.13184641, -0.03090372, -0.34598404,
  0.16010696,  0.13087945,  0.1846456 , -0.21096352, -0.01775959, -0.1408055,
  0.19942284,  0.22955576, -0.18855248,  0.03283105,  0.18555126,  0.03819391,
 -0.06762734,  0.03737705, -0.41253677, -0.06200077,  0.01099905,  0.12436562,
  0.01285126,  0.14804424,  0.12734812, -0.02803038},{ 0.05208793,  0.24233656,  0.12703249,  0.01565079, -0.08480284,  0.03076857,
  0.18836533,  0.25570682,  0.20002407,  0.01985984, -0.33587703,  0.1551829,
 -0.21094358, -0.03328202, -0.02365628, -0.06832776, -0.17639622, -0.17863443,
  0.15315169,  0.00877573,  0.13917531, -0.23799637,  0.03930097, -0.07155567,
 -0.07595242,  0.4023217 , -0.3141295 ,  0.1857741 ,  0.3187245 ,  0.23233335,
 -0.1677002,   0.05908787, -0.4185815 , -0.05352974, -0.0747619 ,  0.04443683,
 -0.11859059,  0.35484532,  0.16704467, -0.02343902},{-0.02895774, -0.12050357, -0.15402664, -0.01768211,  0.11970675,  0.07953086,
 -0.14820847, -0.23610361, -0.12376936, -0.06673481,  0.29093114, -0.16339114,
  0.10591198,  0.15752509, -0.03799952, -0.07046226,  0.12768833,  0.17206477,
 -0.08245447, -0.03126777, -0.05388439,  0.2558232,  -0.03500375, -0.04664701,
 -0.03614902, -0.2507091 ,  0.20893861, -0.07404243, -0.21989498, -0.11844192,
  0.15554462, -0.16655591,  0.4857019 ,  0.03675295,  0.08995741, -0.05596323,
 -0.00252075, -0.24315725, -0.04494895,  0.06870315},{2.46353149e-02, -2.02214736e-02, -6.84975684e-02,  5.25455922e-02,
 -7.73428082e-02,  9.29125696e-02,  3.66532952e-02,  2.88012952e-01,
 -1.11449562e-01, -2.17719916e-02, -5.93765937e-02,  2.90553719e-01,
 -2.34355181e-01, -9.56231579e-02, -2.68765748e-01,  6.05603568e-02,
  1.98517054e-01,  8.18016306e-02, -2.20979869e-01,  6.71807304e-02,
 -5.09603731e-02, -4.76698905e-01, -2.39513785e-01,  1.10816516e-01,
 -1.80270419e-01, -1.32841870e-01, -2.39761829e-01,  2.67522354e-02,
 -1.92588400e-02, -2.61409014e-01,  1.67555630e-01,  1.08893856e-01,
 -2.26423666e-01,  1.85937213e-04,  2.62168776e-02,  1.02321506e-01,
  5.99432644e-03,  1.34635448e-01, -2.23840978e-02, -4.17828262e-02},{ 0.19188656, -0.09405407,  0.15398349, -0.07525326, -0.3887956,   0.13966942,
 -0.06128686, -0.341562  , -0.18686767,  0.08506155, -0.01679435, -0.0302624,
  0.5580696,  -0.09034414, -0.04674308, -0.11329643,  0.5686783 , -0.1146044,
  0.12753902, -0.15763609, -0.155607 ,  -0.06507269, -0.02510907, -0.21744907,
  0.15824883, -0.02365575,  0.06234455, -0.2620068 , -0.22424822,  0.02286011,
  0.3529359,  -0.1192421 ,  0.21827821, -0.07811381,  0.13495187, -0.00101205,
  0.13134888, -0.23854282, -0.1440514 , -0.13669688},{-0.05012556, -0.12260953,  0.09273888, -0.02131903,  0.19380978, -0.04089141,
 -0.02126576,  0.03854211, -0.20541821, -0.16822222,  0.10663823, -0.00686405,
 -0.13529001,  0.03155031, -0.1413681 , -0.04514534, -0.12360393,  0.05214411,
  0.1778445 ,  0.12098222, -0.04527831, -0.15711662,  0.13530204, -0.36595923,
 -0.04320239, -0.01809026,  0.03882397,  0.15047842,  0.0427528 , -0.18486425,
  0.04730129, -0.1216599 ,  0.0688577 ,  0.15800576, -0.01080212,  0.13888006,
 -0.09193458,  0.05021715, -0.02071646, -0.00071236},{-0.1290628,  -0.24119489, -0.09224991, -0.01544287,  0.18392068,  0.01141993,
 -0.18043965, -0.0768343 , -0.069957  ,  0.01989813,  0.14396423, -0.15818033,
 -0.10058849,  0.09989339,  0.10274196,  0.00746023, -0.04451582,  0.11956184,
 -0.03936407, -0.1181529 , -0.2774089 ,  0.16591881, -0.11314173,  0.19061564,
 -0.07296404, -0.35866293,  0.27299678, -0.00216178, -0.44837016, -0.1129045,
 -0.04412189,  0.07338745,  0.19916801, -0.09169561,  0.02637539, -0.15782697,
 -0.02955489, -0.43528885, -0.15379347,  0.2316144 },{ 0.14559081, -0.19214356, -0.2605305,   0.05688481,  0.10473891, -0.19373818,
 -0.21875066, -0.02908398,  0.05497507, -0.11031628, -0.00535602,  0.01602102,
 -0.13987365, -0.08430288, -0.05108355,  0.13798761, -0.0715077 ,  0.02557242,
  0.14500788,  0.04072802, -0.16638544, -0.12500732, -0.4298377 ,  0.02626837,
  0.02789409, -0.09388363, -0.23409578, -0.30041665,  0.11747529, -0.03547746,
 -0.07067882,  0.33094394,  0.0438555 ,  0.0255664 , -0.0609487 , -0.0671363,
  0.01651239,  0.01709754, -0.05574645, -0.12882257},{ 0.00118769, -0.01142519,  0.0636655,  -0.07539101,  0.00459477, -0.00854829,
  0.04733549, -0.05862943,  0.03154355, -0.2914291 ,  0.06410548,  0.04379697,
 -0.01892236,  0.07126785, -0.14672007,  0.07241938, -0.00383305,  0.17873254,
 -0.04853623,  0.0464238,   0.05971277,  0.06211872,  0.08280407, -0.33288804,
  0.07709653, -0.04947509,  0.03438227,  0.16596982,  0.04231581, -0.25947535,
  0.12872072, -0.05925867,  0.07415707,  0.02414886,  0.10234932, -0.11942326,
  0.00255517,  0.11466963, -0.00978922,  0.10318256},{ 0.15036312,  0.1506193,  -0.03420667, -0.18446192,  0.20788287 ,-0.12312438,
  0.19303186,  0.19822268,  0.05207082,  0.07429243, -0.24501298,  0.1262358,
 -0.34553212,  0.06758077,  0.0016909 , -0.06173737, -0.19020109, -0.39542988,
  0.26547286, -0.03413681, -0.06214196, -0.42506036,  0.08502582, -0.32017508,
  0.06734933,  0.11072056, -0.18375458,  0.16149944,  0.30184358, -0.0484663,
 -0.17640984, -0.15086646, -0.27153558, -0.16895472, -0.04985411,  0.01342257,
 -0.05194421,  0.26097897,  0.06913627, -0.03558195},{ 0.0891756,  -0.1852731 ,  0.49087998, -0.09374148, -0.13254611,  0.19685385,
  0.03096733,  0.01738663, -0.19502173, -0.18182336, -0.0697008 ,  0.05918725,
  0.33351088, -0.01716665,  0.00477395, -0.00122865,  0.32933122, -0.01410446,
  0.09233724, -0.07226945, -0.19783705, -0.274026  , -0.09032966,  0.2894773,
  0.13765028, -0.23267832, -0.18967527, -0.3672694 , -0.31798118, -0.17197014,
  0.35897908, -0.25889122,  0.2276529 , -0.09098708,  0.08078881,  0.04467423,
  0.04940129, -0.02185448, -0.1981943 , -0.21498832},{ 0.1815499,   0.06568013,  0.16488916,  0.00524628, -0.08498794, -0.11488584,
  0.00674805,  0.16918604,  0.05981374,  0.09020574 ,-0.28792685,  0.2465193,
 -0.13411711, -0.16025497,  0.14814824, -0.16495103 ,-0.01400596, -0.02618743,
  0.06089072,  0.0170811,   0.00076231, -0.50095946 ,-0.08738038, -0.07577728,
  0.04735078,  0.14136575, -0.25605744,  0.25800455 , 0.2786508 , -0.16666186,
 -0.01989716, -0.00719829, -0.31883702, -0.08394957 , 0.03661565,  0.0015969,
  0.09680743,  0.19532707, -0.01374915,  0.02415035},{-0.04936542, -0.15579242,  0.01605786 ,-0.08911525, -0.05213085, -0.06070149,
 -0.02666656, -0.00789785,  0.06733745, -0.00232041, -0.08655962,  0.07909241,
  0.11814926,  0.0377829,  -0.06437718, -0.17760989,  0.07126205, -0.05160382,
 -0.01805294,  0.05787488, -0.06541685, -0.14701258, -0.16452605, -0.1080967,
  0.18092558, -0.21543579,  0.04887566,  0.08872545, -0.07506228, -0.169477,
  0.10785557, -0.00508653, -0.1060776 , -0.01802001,  0.11761112, -0.08194532,
  0.14527129, -0.08831184, -0.03849689, -0.02012374}};

  
PROGMEM const float perceive_kernel_right[15][40] = {{ 0.07294947, -0.15640315,  0.12708052,  0.20147315,  0.05561217,  0.17506972,
  0.1063878 ,  0.13003878, -0.05871702, -0.12701169,  0.08635787,  0.07773468,
 -0.00910933,  0.08118835,  0.07160105,  0.07035095,  0.0277718 ,  0.08656744,
 -0.03942413, -0.09911516, -0.24795593,  0.11897482, -0.01472264, -0.09059028,
  0.14606191,  0.02257442,  0.07050003,  0.04365536, -0.04922105, -0.14805225,
 -0.06979303, -0.00261962, -0.08869542,  0.10319077,  0.0387532 , -0.05910334,
  0.09006815,  0.00566537,  0.15816869, -0.1035769 },{ 0.03188957, -0.01367198,  0.05018536 ,-0.06611344 ,-0.1200139,   0.08820332,
  0.07981379,  0.12170698, -0.0872358 ,  0.01616696, -0.03334301 , 0.09647954,
 -0.06778634,  0.06253222, -0.08871777,  0.07686429, -0.05078744 ,-0.08391615,
  0.08825569, -0.02577258, -0.17565604, -0.1217551 ,  0.03024572 , 0.09153865,
  0.08939539, -0.14793289, -0.00666101,  0.12102836, -0.00456411 ,-0.22374211,
 -0.16125679, -0.07168684, -0.0324733 , -0.05566523, -0.04963261,  0.03096734,
 -0.06856367,  0.03865686, -0.05573539,  0.02051001},{ 0.1647472,   0.01791939,  0.16051936,  0.00479218, -0.22637331,  0.29633892,
 -0.03573378,  0.24081221,  0.06272209,  0.01626907, -0.0754931 ,  0.00781179,
  0.08766454,  0.07869364, -0.08106288,  0.06958608, -0.20416085,  0.1607324,
  0.07729574,  0.08005463,  0.23951007,  0.03127991,  0.12435155,  0.2871425,
  0.12552793,  0.17056526,  0.05741711,  0.13531093 ,-0.06413396, -0.1370511,
 -0.04580525,  0.12461082,  0.12917358,  0.0223173 , -0.07805633, -0.13422419,
  0.23962182, -0.03100329,  0.06227491, -0.04793712},{ 0.08701786, -0.04531435,  0.07396585,  0.09509664, -0.1931173,   0.11071407,
 -0.04281036, -0.01663561, -0.06297227,  0.10083291, -0.08611312, -0.01667286,
  0.11403435,  0.09572607,  0.02141215,  0.0804963 ,  0.04942896,  0.06337448,
 -0.02078283, -0.04734666,  0.10959758,  0.07109976, -0.03152661, -0.01665937,
  0.02075408,  0.07496646,  0.0159526 , -0.00391804, -0.12507696, -0.2535405,
  0.03313112,  0.04822221,  0.08657745, -0.02014744, -0.07716848, -0.03762211,
 -0.06645837, -0.06291112, -0.07398473, -0.09174118},{-0.08398288,  0.03310548, -0.3476742,   0.1935302,   0.12323941, -0.2540061,
 -0.0641916 , -0.2574734 ,  0.00148048, -0.07598732, -0.0186166,  -0.0383526,
  0.00629603, -0.09478897,  0.0565311 ,  0.04204875,  0.00055321, -0.15026107,
 -0.06232706, -0.15510935, -0.13393283, -0.07483771, -0.10724116, -0.31313053,
  0.04656767,  0.01098238, -0.05660385,  0.04613499,  0.10504691,  0.14216661,
  0.01176162, -0.39010704, -0.11877529,  0.05259358,  0.20102517,  0.1238347,
 -0.29045138,  0.08548521, -0.02361159,  0.1332828 },{-0.02086668,  0.04079339, -0.14425635,  0.06102316,  0.00909471,  0.01892147,
  0.06091843, -0.05033913, -0.06636547,  0.07780017,  0.09152219,  0.1695522,
  0.07378402, -0.1767434 , -0.04564866,  0.14137332,  0.33141738,  0.2406069,
 -0.214726  , -0.06843213, -0.15836531,  0.02413553, -0.0309652 ,  0.17668644,
 -0.27558714, -0.27175003, -0.06636575,  0.02691443, -0.02742183,  0.04340692,
  0.02402309,  0.13738354, -0.05165473, -0.01236286,  0.05414993,  0.15198006,
  0.08694316,  0.10003184, -0.01784931,  0.00301484},{-0.3346543,  -0.05498597, -0.21868509,  0.12532078, -0.00441506, -0.35610068,
 -0.11162674,  0.06307363,  0.01040565,  0.06865338, -0.07959703, -0.09258737,
 -0.15541133,  0.08733852, -0.0572302 , -0.15729372,  0.11655408, -0.34292004,
  0.10985468, -0.12865789, -0.02673944,  0.02029766, -0.05850121, -0.06660234,
 -0.04533752, -0.2952954 , -0.12773986, -0.16211353,  0.10063004,  0.18585762,
 -0.1583554,  -0.02862832, -0.12652083,  0.12303314,  0.03969569,  0.03268962,
 -0.07252277,  0.14288577,  0.11322077, -0.03247084},{-2.19068974e-01,  7.86270201e-02, -5.58560267e-02,  1.33930609e-01,
  8.72911364e-02, -1.97514743e-01,  5.21338284e-02, -3.92782362e-03,
 -1.23550259e-01, -1.91441491e-01,  1.57187283e-01,  6.91574141e-02,
 -8.19425285e-03, -7.54122362e-02,  7.47814924e-02, -1.05354309e-01,
  5.85008003e-02, -2.06921138e-02,  1.16634876e-01,  1.45641342e-01,
  4.90981787e-02, -1.42001063e-01, -1.03379712e-01, -4.27185863e-01,
 -8.74186605e-02,  7.48793706e-02,  4.80467938e-02,  2.68764019e-01,
  9.94524807e-02, -1.44564137e-01, -8.80707667e-05, -2.07506478e-01,
  4.63154837e-02,  1.62717015e-01,  1.48750553e-02,  1.77118495e-01,
 -2.57419676e-01,  1.28247991e-01, -5.07077351e-02,  1.02662481e-01},{ 0.22980936,  0.01254461,  0.11897074, -0.2784774,   0.21760024,  0.14985217,
  0.12086166, -0.02899381,  0.06640242, -0.08094917, -0.01585598,  0.06773814,
 -0.0815304 ,  0.02957524, -0.23909871, -0.00864061, -0.18552478,  0.1289381,
  0.18006372,  0.01547465, -0.01662446, -0.00232216, -0.08898187,  0.13297857,
  0.07366859, -0.03689714,  0.13560088, -0.09100754, -0.22210716,  0.15120132,
  0.09370966, -0.00666225,  0.14301461, -0.23894314, -0.18844122, -0.330627,
  0.32997498, -0.37193272,  0.3012349 ,  0.13519365},{-0.09252571,  0.1448696 ,  0.18869866, -0.09447139,  0.04890463,  0.02176507,
  0.04519484,  0.07816125,  0.06906556, -0.1092894 , -0.09025653,  0.01961349,
  0.04864154,  0.1351022,  -0.08193173,  0.01202158, -0.01098934, -0.04101986,
  0.11717123,  0.13551627,  0.01916383, -0.15967314, -0.11965801,  0.3664549,
  0.10349819, -0.10199562,  0.00887811, -0.3419682 , -0.36014107, -0.14249207,
 -0.09356008,  0.23572186,  0.01595067, -0.15193485, -0.23072836, -0.47323608,
  0.17352508, -0.00141454, -0.09002352, -0.08612879},{-0.00410069,  0.02154852, -0.1921637,   0.17577283, -0.071499,   -0.03120785,
 -0.02555114,  0.02047528,  0.15366621, -0.12230488 , 0.03796179, -0.00714361,
  0.15654707, -0.14903605,  0.11681709, -0.0274895 , -0.01785739,  0.14953934,
 -0.16610494, -0.01965623, -0.15618284, -0.09277959, -0.0250789,  -0.46068922,
  0.09653205,  0.02316637, -0.09931919,  0.30331662,  0.03813523,  0.10559087,
  0.06957372, -0.22547019,  0.09645804,  0.11052784,  0.0106749,   0.1682816,
 -0.20907491,  0.1629358,  -0.08199477, -0.00707122},{-0.22529142, -0.17675735, -0.13521108,  0.13481188 , 0.14219518 ,-0.2524466,
  0.06476028, -0.1758546,  -0.07314191,  0.15794832,  0.11981338, -0.04269917,
 -0.05197347,  0.06619063,  0.13134065,  0.10465577,  0.06763769, -0.36478195,
  0.00244569, -0.00862853, -0.21041691, -0.05271046, -0.16911873, -0.12828432,
 -0.0189269 , -0.00140155, -0.05307605, -0.11831795, -0.07991687, -0.5187018,
 -0.25463292, -0.20798914,  0.01603528, -0.04514948, -0.00385929,  0.02811186,
 -0.21466762,  0.16942573, -0.03718716,  0.11142423},{ 0.0117106,  -0.17084774, -0.52610177 , 0.22898202, -0.03921814, -0.26917273,
  0.17948094, -0.09379225, -0.10705167,  0.08878434, -0.03916641, -0.12066913,
  0.0227454 , -0.02529898,  0.15168205,  0.01466456,  0.15934539, -0.5583699,
 -0.01077132, -0.24099065, -0.32097492, -0.00428822, -0.08128194, -0.2247053,
 -0.07651522, -0.2132517 , -0.15487768,  0.0315562,   0.06629816,  0.01523227,
  0.01779654, -0.547947  , -0.21427003, -0.0651072,   0.3174792 ,  0.2686155,
 -0.28682765,  0.22666821, -0.20175116,  0.08589835},{ 1.4790490e-01, -3.6632884e-02,  2.1062164e-01, -1.2137215e-01,
 -4.3425959e-01,  2.4513091e-01,  9.6523881e-02,  2.5539941e-01,
 -9.6330695e-02, -9.3429029e-02, -9.7555563e-02,  8.4387816e-02,
 -2.6464682e-02,  1.6619915e-02, -8.2143426e-02,  8.7791622e-02,
 -1.0060186e-01,  8.2141355e-02,  2.2906248e-01, -2.9562943e-06,
 -1.0505758e-01, -7.3348440e-02,  8.5749559e-02,  1.5326791e-01,
 -4.0971018e-02, -7.9459928e-02,  1.1879800e-01,  1.4789777e-01,
 -1.8831922e-01,  8.5829459e-02, -1.1586906e-02,  1.2043891e-01,
  2.7148625e-02, -1.2474076e-02, -9.7030453e-02,  1.1764790e-01,
  1.2843992e-01,  3.1408723e-02, -6.6543534e-02, -3.8808998e-02},{ 0.31676167,  0.04734311, -0.04117204, -0.03236438, -0.1652316,   0.26388615,
  0.14163053,  0.28787625, -0.08889721, -0.07310117, -0.11981936,  0.07330483,
  0.1815828 , -0.04040264, -0.17567872,  0.13461456, -0.00199725,  0.17962895,
  0.11096788,  0.08352342,  0.11901145, -0.13548183, -0.00122446,  0.08934294,
  0.12820037, -0.06561123, -0.03481902,  0.27903822, -0.04861993,  0.09475674,
 -0.11314277,  0.05898982, -0.00731682,  0.07329187,  0.02501443, -0.4707022,
  0.27610326, -0.05646471,  0.01901012, -0.07691216}};



PROGMEM const float dmodel_bias_1[40]  = {-0.0010746567,0.024285413,0.031801973,0.009014151,0.063084364,0.05269001,0.0034946036,0.024651857,-0.01832779,-0.027496472,0.0038995072,-0.0049361414,-0.0039025752,0.00017114611,0.014918175,0.00023670198,0.077505626,-0.024134863,0.046099823,0.08965501,-0.029326087,-0.024776006,0.013381814,0.0044070734,0.060039703,-0.04467007,0.005474059,0.05772726,-0.011100539,-0.01332115,0.017239654,0.047609802,0.05851343,0.09509844,0.036784247,-0.026534252,-0.019113211,0.02274208,0.003912732,-0.0057317107};
PROGMEM const float dmodel_bias_2[15]  = {0.02183328,-0.044273492,-0.012110343,-0.004307126,0.0030345086,0.010601306,0.0007391676,-0.008779281,0.020210965,0.011785629,0.0064377924,-0.012795383,0.011844801,-0.017908162,0.024666786};
PROGMEM const float perceive_bias[40] = {0.030537171,0.04179521,-0.034147393,-0.012620558,0.0041902284,0.030705025,0.028250286,-0.0025205151,0.017727124,0.01005783,0.041590728,-0.0114766965,0.03215437,0.038724948,0.05805855,-0.0074059837,-0.0053902194,0.01935422,-0.08663503,0.039916087,0.0437605,0.05126975,0.029452205,0.050751057,-0.0012684441,-0.015251998,0.047365025,0.0081449,0.02040422,0.012763868,-0.028508976,0.0230172,-0.023475986,0.03449037,0.051923096,-0.011913723,-0.0069342074,0.024313584,-0.0033058159,0.05360153};

void setup() {
        Serial.begin(9600);
        Serial1.begin(57600); //Left neighbour
        Serial2.begin(57600);// right neighbour
        Serial3.begin(57600); // top neighbour

        Serial4.begin(57600); // bottom neighbour

        pinMode(11, OUTPUT);
        pinMode(10, OUTPUT);
        pinMode(3, OUTPUT);
        pinMode(A8, OUTPUT);
        pinMode(A9, OUTPUT);
        pinMode(A10, OUTPUT);
        pinMode(A11, OUTPUT);

        pinMode(19, INPUT_PULLUP);
        pinMode(17, INPUT_PULLUP);
        pinMode(15, INPUT_PULLUP);
        pinMode(68, INPUT_PULLUP);
 

        byte numDigits = 1;
        byte digitPins[] = {};
        byte segmentPins[] = {7, 6, 5, 13, 12, 9, 8, 4};
        bool resistorsOnSegments = true;

        byte hardwareConfig = COMMON_CATHODE; 
        sevseg.begin(hardwareConfig, numDigits, digitPins, segmentPins, resistorsOnSegments);
        sevseg.setBrightness(90);
        randomSeed(analogRead(23)); 
        
        
  
     

}

void loop() { 

  delay(random(500)); 
  while(update_num<13){
  send_message();
  receieve_message();      
  update_message();
  }
 }
  

void send_message()
{
  

  ////////////////// send message!!!! //////////////////////////////////
  if(message_process_completed == 0){ //only send one message at a time - wait for the neural network to update 
    //before sending another one
    message_process_completed = 1; //reset trigger

    // send header... at the moment its randomly 25 but we can change later if required
    int header = 245;
    Serial1.write(header);
    Serial2.write(header);
    Serial3.write(header);
    Serial4.write(header);
      

    
    int check_num = 0;
    for (int k = 0; k < amount_of_cell_info; k++){
    // send the current cell state to each of its neighbours
       // convert into sendable format (i.e. cell_state of -2 --> 0 cells state of +2 --> 255)
      if(cell_state[k]>1.27){cell_state[k] =1.27;}
      if(cell_state[k]<-1.27){cell_state[k] =-1.27;}
      int x = cell_state[k]*scale_factor + offset;
      
      check_num = check_num + x;

      Serial1.write(x);
      Serial2.write(x);
      Serial3.write(x);
      Serial4.write(x);
        
      
    }
      check_num = check_num/amount_of_cell_info;
      Serial1.write(check_num);
      Serial2.write(check_num);
      Serial3.write(check_num);
      Serial4.write(check_num);
    



    // set message sent trigger - actually this might be obsolete now ...
    message_sent = 1;}
}

void receieve_message()
{
  
  top_read = receive_neighbour_123(Serial2,  ReadFromTopMessage, top_read);

  right_read = receive_neighbour_123(Serial1,  ReadFromRightMessage, right_read);

  left_read = receive_neighbour_123(Serial3,  ReadFromLeftMessage, left_read);

  bottom_read = receive_neighbour_4(Serial4, ReadFromBottomMessage, bottom_read);

}

int receive_neighbour_123(HardwareSerial& neighbour_serial, float* message, int flag)
{
  if(flag>14){
    if(flag==15){
      if(neighbour_serial.available()>0){
        int temp = (neighbour_serial.read());
        float recieved_sum = ((float(temp)-float(offset))/float(scale_factor));
        float check_sum = 0;
        for(int k=0;k<15;k++){
          check_sum = check_sum + message[k];
        }
        float diff = abs(check_sum/float(15) - recieved_sum);

        flag = flag +1;
      }
    }
    return flag;
  }
  if(flag<0){
    
    if(neighbour_serial.available()>0){

      int value = (neighbour_serial.read()); 
      if(value == 245){
        flag = 0;  
      }
    }
  }
  else{
    while(neighbour_serial.available()>0 and flag<15){
      
      int temp = (neighbour_serial.read()); 

      message[flag] = (float(temp)-float(offset))/float(scale_factor);
      flag = flag +1;
      
    }
    
  }
  return flag;
}

int receive_neighbour_4(SoftwareSerial& neighbour_serial, float* message, int flag)
{
  if(flag>14){
    if(flag==15){
      if(neighbour_serial.available()>0){
        int temp = (neighbour_serial.read());
        float recieved_sum = (float(temp)-float(offset))/float(scale_factor);
        float check_sum = 0;
        for(int k=0;k<15;k++){
          check_sum = check_sum + message[k];
        }
        flag = flag +1;
        float diff = abs(check_sum/float(15) - recieved_sum);

      }
    }
    return flag;
  }
  if(flag<0){
    
    if(neighbour_serial.available()>0){

      int value = (neighbour_serial.read()); 
      if(value == 245){
        flag = 0;  
      }
    }
  }
  else{
    while(neighbour_serial.available()>0 and flag<15){
      
      int temp = (neighbour_serial.read()); 

      message[flag] = (float(temp)-float(offset))/float(scale_factor);
      flag = flag +1;
      
    }
    
  }
  return flag;
}
void update_message()
{
////////////////////////// Update message ///////////////////////////////////////////

  now = millis();
  check = now - prev;

  int top_message = 0;
  int bottom_message = 0;
  int left_message = 0;
  int right_message = 0;
  
  if(top_read < 15){top_message = 1;} 
  if(bottom_read < 15){bottom_message = 1;} 
  if(left_read < 15){left_message = 1;} 
  if(right_read < 15){right_message = 1;} 
   
  int messages_recieved = top_message + right_message + left_message + bottom_message;


  if(check>math_trigger){
    int random_num = random(10);
    Serial.println(random_num);
    prev = now;

    if(random_num>-1){
    
    Serial.println("check");
    Serial.println(check);
    Serial.println("prev");
    Serial.println(prev);
    

    // update the cell state part... 
    float sumA1[neural_network_parameter] = {0};
  

    for(int j = 0 ; j < neural_network_parameter ; j++ ) {
      for(int i = 0 ; i < amount_of_cell_info ; i++ ) {
          int k = i*neural_network_parameter + j;
          sumA1[j] += (pgm_read_float_near(&perceive_kernel_self[0][0] + k) * cell_state[i]); }}

    for(int j = 0 ; j < neural_network_parameter ; j++ ) {
      for(int i = 0 ; i < amount_of_cell_info ; i++ ) {
          int k = i*neural_network_parameter + j;
          sumA1[j] += (pgm_read_float_near(&perceive_kernel_top[0][0] + k) * ReadFromTopMessage[i]) ; }}

    for(int j = 0 ; j < neural_network_parameter ; j++ ) {
      for(int i = 0 ; i < amount_of_cell_info ; i++ ) {
          int k = i*neural_network_parameter + j;
          sumA1[j] += (pgm_read_float_near(&perceive_kernel_bottom[0][0] + k) *  ReadFromBottomMessage[i]) ; }}
     

    for(int j = 0 ; j < neural_network_parameter ; j++ ) {
      for(int i = 0 ; i < amount_of_cell_info ; i++ ) {
          int k = i*neural_network_parameter + j;
          sumA1[j] += (pgm_read_float_near(&perceive_kernel_right[0][0] + k) * ReadFromRightMessage[i]) ; }}

    for(int j = 0 ; j < neural_network_parameter ; j++ ) {
      for(int i = 0 ; i < amount_of_cell_info ; i++ ) {
          int k = i*neural_network_parameter + j;
          sumA1[j] += (pgm_read_float_near(&perceive_kernel_left[0][0] + k) *  ReadFromLeftMessage[i]) ; }}

    for(int j = 0 ; j < neural_network_parameter ; j++ ) {sumA1[j] += (pgm_read_float_near(&perceive_bias[0] + j));}
    
    for(int j = 0 ; j < neural_network_parameter ; j++ ) {
      if(sumA1[j]<0){
        sumA1[j]=0;
        }  
      }


    float sumB[neural_network_parameter] = {0};
    
    for(int j = 0 ; j < neural_network_parameter ; j++ ) {        
      for(int i = 0 ; i < neural_network_parameter; i++ ) {
        int k = i*neural_network_parameter +j;
        sumB[j] += sumA1[i] *(pgm_read_float_near(&dmodel_kernel_1[0][0] + k));    
      }
    }

    for(int j = 0 ; j < neural_network_parameter; j++ ) {
      sumB[j] += (pgm_read_float_near(&dmodel_bias_1[0] + j));
      if(sumB[j]<0){
        sumB[j] = 0;
      }
    }
    
  
  float sumC[amount_of_cell_info] = {0};

  for(int j = 0 ; j< amount_of_cell_info ; j++ ) {        
    for(int i = 0 ; i < neural_network_parameter; i++ ) {
      int k = i*amount_of_cell_info +j;
      sumC[j] += sumB[i] *(pgm_read_float_near(&dmodel_kernel_2[0][0] + k));
    }
  }
  
  

  for(int j = 0 ; j < amount_of_cell_info ; j++ ) {
    sumC[j] += (pgm_read_float_near(&dmodel_bias_2[0] + j));  
    }



  Serial.print("W");
  Serial.print(",");
  for(int j = 0 ; j < amount_of_cell_info ; j++ ) {
    Serial.print(ReadFromRightMessage[j]);
    Serial.print(",");
    }
    
  Serial.println(" ");

  Serial.print("E");
  Serial.print(",");
  for(int j = 0 ; j < amount_of_cell_info ; j++ ) {
    Serial.print(ReadFromLeftMessage[j]);
    Serial.print(",");
    }
    
  Serial.println(" ");


  Serial.print("N");
  Serial.print(",");
  for(int j = 0 ; j < amount_of_cell_info ; j++ ) {
    Serial.print(ReadFromTopMessage[j]);
    Serial.print(",");
    }
    
  Serial.println(" ");

  Serial.print("S");
  Serial.print(",");
  for(int j = 0 ; j < amount_of_cell_info ; j++ ) {
    Serial.print(ReadFromBottomMessage[j]);
    Serial.print(",");
    }
    
  Serial.println(" ");

  
  Serial.print("CELL");
  Serial.print(",");
  for(int j = 0 ; j < amount_of_cell_info ; j++ ) {
    cell_state[j] += sumC[j];
    Serial.print(cell_state[j]);
    Serial.print(",");
    }
    
  Serial.println(" ");
  }

  // now we find out which number the cell thinks it is...
  // looks for the position of the maximum number of the last 10 digits..
  float max_num = 0;
  int max_position = -1;
  for(int i=5; i<amount_of_cell_info; i++){
    // we can also print it for debugging...

    if(cell_state[i]>max_num){
      max_num =cell_state[i]; 
      max_position=i-5;
    }
  }

  // set the light colour accordingly...

  if(max_position==7){analogWrite(red_light_pin, 55); analogWrite(green_light_pin,0); analogWrite(blue_light_pin, 0);sevseg.setNumber(7);} //red
  if(max_position==1){analogWrite(red_light_pin, 0); analogWrite(green_light_pin,20); analogWrite(blue_light_pin, 0);sevseg.setNumber(1);} //green
  if(max_position==2){analogWrite(red_light_pin, 0); analogWrite(green_light_pin,0); analogWrite(blue_light_pin, 30);sevseg.setNumber(2);} //blue
  if(max_position==3){analogWrite(red_light_pin, 70); analogWrite(green_light_pin,25); analogWrite(blue_light_pin, 0);sevseg.setNumber(3);} //orange
  if(max_position==4){analogWrite(red_light_pin, 5); analogWrite(green_light_pin,50); analogWrite(blue_light_pin, 30);sevseg.setNumber(4);} //aquamarine
  if(max_position==5){analogWrite(red_light_pin, 40); analogWrite(green_light_pin,12); analogWrite(blue_light_pin, 60);sevseg.setNumber(5);} //purple
  if(max_position==6){analogWrite(red_light_pin, 50); analogWrite(green_light_pin,50); analogWrite(blue_light_pin, 0);sevseg.setNumber(6);} //yellow
  if(max_position==0){analogWrite(red_light_pin, 20); analogWrite(green_light_pin,20); analogWrite(blue_light_pin, 20);sevseg.setNumber(0);} // white
  if(max_position==8){analogWrite(red_light_pin, 75); analogWrite(green_light_pin,25); analogWrite(blue_light_pin, 30);sevseg.setNumber(8);} //pink
  if(max_position==9){analogWrite(red_light_pin, 25); analogWrite(green_light_pin,15); analogWrite(blue_light_pin, 15);sevseg.setNumber(9);}


  if(max_position==7){sevseg.setNumber(7);}
  if(max_position==0){sevseg.setNumber(0);}
  if(max_position==1){sevseg.setNumber(1);}
  if(max_position==2){sevseg.setNumber(2);}
  if(max_position==3){sevseg.setNumber(3);}
  if(max_position==4){sevseg.setNumber(4);}
  if(max_position==5){sevseg.setNumber(5);}
  if(max_position==6){sevseg.setNumber(6);}
  if(max_position==8){sevseg.setNumber(8);}
  if(max_position==9){sevseg.setNumber(9);}

  
  sevseg.refreshDisplay();

  // the update process is now completed - update each of the necessary parameters / reset the triggers...
  message_process_completed = 0;
  bottom_read = -1;
  top_read = -1;
  left_read = -1;
  right_read = -1;

  bottom_message = 0;
  top_message = 0;
  left_message = 0;
  right_message = 0;


   ReadFromRightMessage[15] = {0};
   ReadFromLeftMessage[15] = {0};
   ReadFromTopMessage[15] = {0};
   ReadFromBottomMessage[15] = {0};

  update_num = update_num +1;
  

  }

}