brendanhaines/ECEN5458
1
0
Fork 0
mirror of https://github.com/brendanhaines/ECEN5458_Project.git synced 2024-11-09 21:14:47 -07:00
Code Issues Packages Projects Releases Wiki Activity

fix logging

Browse Source
This commit is contained in:
Brendan Haines 2020-03-02 21:17:11 -07:00
parent 27775e09cc
commit 656dc9b4d9
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
Software/python/hwtest.py
View File

@ -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]
np.append(c, fir_taps[1:] * e[-len(fir_taps)+1:] + iir_taps * c[-len(iir_taps):]) new_c = fir_taps[1:] * e[-len(fir_taps)+1:] + 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
@ -142,15 +142,15 @@ def control_thread():
line_position = 0 line_position = 0
# Calculate output # Calculate output
c[-1] += fir_taps[0] * line_position new_c += fir_taps[0] * line_position
motor_speed += c[-1] motor_speed += new_c
# Update motors # Update motors
# for ii in range(3): # for ii in range(3):
# servos[ii].throttle = motor_speed[ii] # servos[ii].throttle = motor_speed[ii]
# Log data # Log data
new_time_data = [[this_time, line_position]] new_time_data = [[this_time, line_position, new_c]]
time_data = np.concatenate((time_data, new_time_data)) time_data = np.concatenate((time_data, new_time_data))
# Print data # Print data