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more changes to taps

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Brendan Haines 2020-04-08 15:27:34 -06:00
parent 4b030f1639
commit f3c8405560
1 changed files with 1 additions and 1 deletions
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Software/python/server.py
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@ -154,7 +154,7 @@ def controller():
this_time = time_data[-1, 0] + sample_interval
u = time_data[:,2]
e = time_data[:,1]
new_u = np.sum(fir_taps[1:] * e[-len(fir_taps)+1:]) - np.sum(iir_taps * u[-len(iir_taps):])
new_u = np.sum(np.flip(fir_taps[1:]) * e[-len(fir_taps)+1:]) - np.sum(np.flip(iir_taps) * u[-len(iir_taps):])
motor_speed = np.array(motor_directions) * base_speed
# TODO: replace sleep statement with something that doesn't depend on execution time of loop