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fix order of taps

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This commit is contained in:
Brendan Haines 2020-04-08 14:54:03 -06:00
parent 889ce361ba
commit dabf945bda
1 changed files with 3 additions and 4 deletions
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7
Software/python/server.py
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@ -107,8 +107,8 @@ def controller():
else:
sample_interval = D.dt
base_speed = 0.1
fir_taps = np.append(np.flip(D.num), 0)
iir_taps = np.append(np.flip(D.num[1:]), 0)
fir_taps = np.append(D.num, 0)
iir_taps = np.append(D.num[1:], 0)
# fir_taps = [1, 0, 0]
# iir_taps = [0, 0]
@ -135,11 +135,10 @@ def controller():
# Calculate output
new_c += fir_taps[0] * line_position
motor_speed += steering_sign * new_c
np.clip(motor_speed, -1, 1)
# Update motors
for ii in range(3):
servos[ii].throttle = motor_speed[ii]
servos[ii].throttle = np.clip(motor_speed[ii], -1, 1)
# Log data
new_time_data = [[this_time, line_position, new_c]]