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more tweaks

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Brendan Haines 2020-04-08 15:33:01 -06:00
parent f3c8405560
commit 924c277481
1 changed files with 8 additions and 2 deletions
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10
Software/python/server.py
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@ -111,6 +111,12 @@ def controller():
fir_taps = np.append(D.num, 0) fir_taps = np.append(D.num, 0)
fir_taps = np.concatenate([np.zeros((len(iir_taps) + 1) - len(fir_taps)), fir_taps]) fir_taps = np.concatenate([np.zeros((len(iir_taps) + 1) - len(fir_taps)), fir_taps])
# index 0 is oldest sample
iir_taps = np.flip(iir_taps)
fir_taps = np.flip(fir_taps)
print(iir_taps)
print(fir_taps)
motor_directions = [1, -1, 0] motor_directions = [1, -1, 0]
steering_sign = 1 steering_sign = 1
@ -132,7 +138,7 @@ def controller():
line_position = 0 line_position = 0
# Calculate output # Calculate output
new_u += fir_taps[0] * line_position new_u += fir_taps[-1] * line_position
motor_speed += steering_sign * new_u motor_speed += steering_sign * new_u
# Update motors # Update motors
@ -154,7 +160,7 @@ def controller():
this_time = time_data[-1, 0] + sample_interval this_time = time_data[-1, 0] + sample_interval
u = time_data[:,2] u = time_data[:,2]
e = time_data[:,1] e = time_data[:,1]
new_u = np.sum(np.flip(fir_taps[1:]) * e[-len(fir_taps)+1:]) - np.sum(np.flip(iir_taps) * u[-len(iir_taps):]) new_u = np.sum(fir_taps[:-1] * e[-(len(fir_taps)-1):]) - np.sum(iir_taps * u[-len(iir_taps):])
motor_speed = np.array(motor_directions) * base_speed motor_speed = np.array(motor_directions) * base_speed
# TODO: replace sleep statement with something that doesn't depend on execution time of loop # TODO: replace sleep statement with something that doesn't depend on execution time of loop