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https://github.com/brendanhaines/ECEN5458_Project.git
synced 2024-12-27 03:17:06 -07:00
fix order of taps
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@ -107,8 +107,8 @@ def controller():
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else:
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else:
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sample_interval = D.dt
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sample_interval = D.dt
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base_speed = 0.1
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base_speed = 0.1
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fir_taps = np.append(np.flip(D.num), 0)
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fir_taps = np.append(D.num, 0)
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iir_taps = np.append(np.flip(D.num[1:]), 0)
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iir_taps = np.append(D.num[1:], 0)
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# fir_taps = [1, 0, 0]
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# fir_taps = [1, 0, 0]
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# iir_taps = [0, 0]
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# iir_taps = [0, 0]
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@ -135,11 +135,10 @@ def controller():
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# Calculate output
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# Calculate output
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new_c += fir_taps[0] * line_position
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new_c += fir_taps[0] * line_position
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motor_speed += steering_sign * new_c
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motor_speed += steering_sign * new_c
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np.clip(motor_speed, -1, 1)
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# Update motors
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# Update motors
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for ii in range(3):
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for ii in range(3):
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servos[ii].throttle = motor_speed[ii]
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servos[ii].throttle = np.clip(motor_speed[ii], -1, 1)
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# Log data
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# Log data
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new_time_data = [[this_time, line_position, new_c]]
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new_time_data = [[this_time, line_position, new_c]]
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