From 29e75a6b5f4a7de6456b1499d6ef39c93a391db7 Mon Sep 17 00:00:00 2001
From: Brendan Haines <brendan.haines@gmail.com>
Date: Wed, 8 Apr 2020 15:07:54 -0600
Subject: [PATCH] handle zeros at infinity

---
 Software/python/server.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Software/python/server.py b/Software/python/server.py
index 47bd1cc..4beb147 100644
--- a/Software/python/server.py
+++ b/Software/python/server.py
@@ -107,8 +107,9 @@ def controller():
     else:
         sample_interval = D.dt
     base_speed = 0.1
-    fir_taps = np.append(D.num, 0)
     iir_taps = np.append(D.num[1:], 0)
+    fir_taps = np.append(D.num, 0)
+    fir_taps = np.concatenate([np.zeros(len(iir_taps)-len(fir_taps) + 1), fir_taps])
     # fir_taps = [1, 0, 0]
     # iir_taps = [0, 0]