From cb7904af3a3ba43cfe9af87588c31ac16a3eb4d3 Mon Sep 17 00:00:00 2001 From: Brendan Haines Date: Mon, 2 Mar 2020 21:22:42 -0700 Subject: [PATCH] make the controller a little more interesting --- Software/python/hwtest.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Software/python/hwtest.py b/Software/python/hwtest.py index 81af14d..1a4bdbc 100644 --- a/Software/python/hwtest.py +++ b/Software/python/hwtest.py @@ -117,7 +117,7 @@ def control_thread(): sample_interval = 0.01 base_speed = 0.1 - fir_taps = [1, 0, 0] + fir_taps = [1, 1, 0] iir_taps = [0, 0] time_data = np.zeros((max(len(fir_taps), len(iir_taps)), time_data.shape[1])) @@ -142,7 +142,7 @@ def control_thread(): line_position = 0 # Calculate output - new_c += fir_taps[0] * line_position + new_c += fir_taps[0] * error motor_speed += new_c # Update motors