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fix controller

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This commit is contained in:
Brendan Haines 2020-03-02 21:18:11 -07:00
parent 656dc9b4d9
commit 6440cbf6bf
1 changed files with 1 additions and 1 deletions
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Software/python/hwtest.py
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@ -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 = 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 motor_speed = np.array([-1, 1, 0]) * base_speed
# Read error # Read error