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possibly fix taps

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This commit is contained in:
Brendan Haines 2020-04-08 15:25:39 -06:00
parent a4b7ad84c6
commit 4b030f1639
1 changed files with 1 additions and 6 deletions
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7
Software/python/server.py
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@ -109,12 +109,7 @@ def controller():
base_speed = 0.1 base_speed = 0.1
iir_taps = np.append(D.num[1:], 0) iir_taps = np.append(D.num[1:], 0)
fir_taps = np.append(D.num, 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 = np.concatenate([np.zeros((len(iir_taps) + 1) - len(fir_taps)), fir_taps])
iir_taps = np.flip(iir_taps)
fir_taps = np.flip(fir_taps)
# 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