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Commit e1994b7c authored by Andrew Wade's avatar Andrew Wade

Added probabilistic rounding on last digit to improve interperlation.

parent 55cd03aa
......@@ -101,11 +101,14 @@ def main(args, param):
# Actuate only if there is no jump in actuation more than 0.5
if np.abs(u-uprev) > 0.5 and avoidedJump == 0:
RCPID.write(param.actuator, uprev, monitor=False)
uprev_round = probRound(uprev, 5)
RCPID.write(param.actuator, uprev_round, monitor=False)
avoidedJump = 1
print("Avoided a jump!")
else:
RCPID.write(param.actuator, u, monitor=False)
u_round = probRound(u, 5)
RCPID.write(param.actuator, u_round, monitor=False)
avoidedJump = 0
# RCPID.write(param.actuator, u, monitor=False)
......
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