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add IIR tap

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Brendan Haines 2020-03-02 21:26:56 -07:00
parent 7222e7dac5
commit 108fac0b17
1 changed files with 2 additions and 2 deletions
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4
Software/python/hwtest.py
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@ -118,7 +118,7 @@ def control_thread():
sample_interval = 0.01 sample_interval = 0.01
base_speed = 0.1 base_speed = 0.1
fir_taps = [1, 1, 0] fir_taps = [1, 1, 0]
iir_taps = [0, 0] iir_taps = [0.1, 0]
time_data = np.zeros((max(len(fir_taps), len(iir_taps)), time_data.shape[1])) time_data = np.zeros((max(len(fir_taps), len(iir_taps)), time_data.shape[1]))
while True: while True:
@ -132,7 +132,7 @@ def control_thread():
# Precompute as much as possible # Precompute as much as possible
c = time_data[:,2] c = time_data[:,2]
e = time_data[:,1] e = time_data[:,1]
new_c = np.sum(fir_taps[1:] * e[-len(fir_taps)+1:]) + np.sum(iir_taps * c[-len(iir_taps):]) new_c = np.sum(fir_taps[1:] * e[-len(fir_taps)+1:]) - np.sum(iir_taps * c[-len(iir_taps):])
motor_speed = np.array([-1, 1, 0]) * base_speed motor_speed = np.array([-1, 1, 0]) * base_speed
# Read error # Read error