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make the controller a little more interesting

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Brendan Haines 2020-03-02 21:22:42 -07:00
parent ce127c9ab0
commit cb7904af3a
1 changed files with 2 additions and 2 deletions
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4
Software/python/hwtest.py
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@ -117,7 +117,7 @@ def control_thread():
sample_interval = 0.01 sample_interval = 0.01
base_speed = 0.1 base_speed = 0.1
fir_taps = [1, 0, 0] fir_taps = [1, 1, 0]
iir_taps = [0, 0] iir_taps = [0, 0]
time_data = np.zeros((max(len(fir_taps), len(iir_taps)), time_data.shape[1])) 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 line_position = 0
# Calculate output # Calculate output
new_c += fir_taps[0] * line_position new_c += fir_taps[0] * error
motor_speed += new_c motor_speed += new_c
# Update motors # Update motors