diff --git a/Software/python/server.py b/Software/python/server.py
index 3fcfb8d..017429e 100644
--- a/Software/python/server.py
+++ b/Software/python/server.py
@@ -107,10 +107,8 @@ def controller():
     else:
         sample_interval = D.dt
     base_speed = 0.1
-    fir_taps = np.flip(D.num)
-    iir_taps = np.flip(D.num[1:])
-    if len(iir_taps) == 0:
-        iir_taps = [0]
+    fir_taps = np.append(np.flip(D.num), 0)
+    iir_taps = np.append(np.flip(D.num[1:]), 0)
     # fir_taps = [1, 0, 0]
     # iir_taps = [0, 0]