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actually use the entered control system

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Brendan Haines 2020-04-08 14:29:42 -06:00
parent f5de7a7cec
commit 2539e5f2f0
1 changed files with 11 additions and 3 deletions
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12
Software/python/server.py
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@ -99,12 +99,19 @@ def controller():
global time_data global time_data
global servos global servos
global control_thread_run global control_thread_run
global D # controller model
# TODO: make these parameters editable via network interface # TODO: make these parameters editable via network interface
if D.dt is None:
sample_interval = 0.01 sample_interval = 0.01
else:
sample_interval = D.dt
base_speed = 0.1 base_speed = 0.1
fir_taps = [1, 0, 0] fir_taps = np.flip(D.num)
iir_taps = [0, 0] iir_taps = np.flip(D.num[1:])
# fir_taps = [1, 0, 0]
# iir_taps = [0, 0]
motor_directions = [1, -1, 0] motor_directions = [1, -1, 0]
steering_sign = 1 steering_sign = 1
@ -231,6 +238,7 @@ stop_button.on_click(stop_controller)
controller_model_text = TextInput(value="D = TransferFunction([1], [1], dt=0.01)") controller_model_text = TextInput(value="D = TransferFunction([1], [1], dt=0.01)")
update_models_button = Button(label="Update models") update_models_button = Button(label="Update models")
update_models_button.on_click(update_models) update_models_button.on_click(update_models)
update_models()
def update_battery_voltage(attrname=None, old=None, new=None): def update_battery_voltage(attrname=None, old=None, new=None):
global VBAT_THRESHOLD global VBAT_THRESHOLD