TRM_UNO_R4_WIFI.ino

#include <Arduino.h>
#include <math.h>
#include <Arduino_LED_Matrix.h>

ArduinoLEDMatrix matrix;

static const int N = 8;
static const int IN = 3;

float state[N] = {0};

const float Ws[N][N] = {
  {0.55, 0.05, 0.00, 0.00, 0.10, 0.00, 0.00, 0.00},
  {0.00, 0.50, 0.08, 0.00, 0.00, 0.10, 0.00, 0.00},
  {0.00, 0.00, 0.52, 0.07, 0.00, 0.00, 0.10, 0.00},
  {0.10, 0.00, 0.00, 0.48, 0.07, 0.00, 0.00, 0.10},
  {0.00, 0.10, 0.00, 0.00, 0.50, 0.07, 0.00, 0.00},
  {0.00, 0.00, 0.10, 0.00, 0.00, 0.50, 0.07, 0.00},
  {0.00, 0.00, 0.00, 0.10, 0.00, 0.00, 0.52, 0.07},
  {0.07, 0.00, 0.00, 0.00, 0.10, 0.00, 0.00, 0.50}
};

const float Wi[N][IN] = {
  { 0.60, 0.20, 0.00},
  {-0.30, 0.25, 0.10},
  { 0.15,-0.35, 0.05},
  { 0.10, 0.10, 0.00},
  {-0.20, 0.15, 0.05},
  { 0.05, 0.30, 0.00},
  { 0.25,-0.10, 0.05},
  {-0.10, 0.05, 0.10}
};

const float b[N]  = {0.00, 0.02, -0.01, 0.00, 0.01, 0.00, -0.02, 0.01};
const float Wo[N] = {0.30, -0.10, 0.25, 0.05, -0.20, 0.15, 0.10, 0.05};

float u = 0.0f;

static inline float clampf(float x, float lo, float hi){ return x<lo?lo:(x>hi?hi:x); }
static inline float tanh_safe(float x){ x=clampf(x,-8.0f,8.0f); return tanhf(x); }

float trm_step(float x0, float x1, float x2){
  float ns[N];
  for(int i=0;i<N;i++){
    float acc=b[i];
    for(int j=0;j<N;j++) acc += Ws[i][j]*state[j];
    acc += Wi[i][0]*x0 + Wi[i][1]*x1 + Wi[i][2]*x2;
    ns[i]=tanh_safe(acc);
  }
  for(int i=0;i<N;i++) state[i]=ns[i];
  float y=0.0f; for(int i=0;i<N;i++) y += Wo[i]*state[i];
  return y;
}

// Serial float line reader
bool readFloatLine(float &out){
  static String buf;
  while(Serial.available()){
    char c=(char)Serial.read();
    if(c=='\n' || c=='\r'){
      if(buf.length()==0) continue;
      out = buf.toFloat();
      buf="";
      return true;
    } else {
      buf += c;
      if(buf.length()>32) buf.remove(0,16);
    }
  }
  return false;
}

// LED Matrix: 12x8 frame (96 bits)
uint8_t frame[8][12];

void clearFrame(){
  for(int r=0;r<8;r++) for(int c=0;c<12;c++) frame[r][c]=0;
}

// Draw a horizontal bar (0..12 columns) centered vertically
void drawBar(int cols){
  clearFrame();
  cols = clampf(cols, 0, 12);
  int row = 3; // simple bar on row 3 and 4 for thickness
  for(int c=0;c<cols;c++){
    frame[row][c]=1;
    frame[row+1][c]=1;
  }
}

void pushFrame(){
  // ArduinoLEDMatrix expects a 8x12 bitmap; we pack into bytes.
  // Easiest: use matrix.renderBitmap() if available; else pack manually.
  // Many installs support renderBitmap(frame, 8, 12).
  matrix.renderBitmap(frame, 8, 12);
}

unsigned long lastTick=0;

void setup(){
  Serial.begin(115200);
  pinMode(LED_BUILTIN, OUTPUT);

  matrix.begin();
  clearFrame();
  pushFrame();

  Serial.println("\nTRM UNO R4 WiFi (Serial u + LED Matrix y)");
  Serial.println("Entra u (float) i Enter. Ex: 0.8 / -0.8 / 0");
}

void loop(){
  float val;
  if(readFloatLine(val)){
    u = clampf(val, -2.0f, 2.0f);
    Serial.print("u=");
    Serial.println(u, 3);
  }

  unsigned long now = millis();
  if(now - lastTick >= 150){
    lastTick = now;
    float t = now/1000.0f;
    float y = trm_step(u, sinf(t), 1.0f);

    // policy LED built-in
    if(y > 0.35f) digitalWrite(LED_BUILTIN, HIGH);
    else if(y < -0.35f) digitalWrite(LED_BUILTIN, LOW);
    else digitalWrite(LED_BUILTIN, (now/500)%2);

    // map y ~ [-1..1] to [0..12]
    float yn = clampf((y + 1.0f) * 0.5f, 0.0f, 1.0f);
    int cols = (int)roundf(yn * 12.0f);
    drawBar(cols);
    pushFrame();

    Serial.print("y=");
    Serial.print(y, 4);
    Serial.print(" state=[");
    Serial.print(state[0],2); Serial.print(",");
    Serial.print(state[1],2); Serial.print(",");
    Serial.print(state[2],2); Serial.print(",...,");
    Serial.print(state[N-1],2);
    Serial.println("]");
  }
}