From 6440cbf6bfe50c273f9da883fde4def6afb4840a Mon Sep 17 00:00:00 2001
From: Brendan Haines <brendan.haines@gmail.com>
Date: Mon, 2 Mar 2020 21:18:11 -0700
Subject: [PATCH] fix controller

---
 Software/python/hwtest.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Software/python/hwtest.py b/Software/python/hwtest.py
index b9e1c7e..3d3d853 100644
--- a/Software/python/hwtest.py
+++ b/Software/python/hwtest.py
@@ -132,7 +132,7 @@ def control_thread():
         # Precompute as much as possible
         c = time_data[:,2]
         e = time_data[:,1]
-        new_c = fir_taps[1:] * e[-len(fir_taps)+1:] + 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
         
         # Read error