Decreased SAVED control rate to 50, acceleration history to 10.

draiscontrol/control.py

@@ -140,9 +140,9 @@ class Control(object):
     def savedloop(self, human=False):
         #  old duty signal
         #        |
-        #        |   acceleration history
-        #        | /---------------------------\
-        state = "0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
+        #        |  acceleration history
+        #        | /-----------------\
+        state = "0 0 0 0 0 0 0 0 0 0 0"
         t = time.time()
 
         controller = subprocess.Popen(['/opt/draisine-hypro/tool/build/bin/controller', '--continuous'], stdin=subprocess.PIPE, stdout=subprocess.PIPE)
@@ -211,7 +211,7 @@ if __name__ == '__main__':
             else: usage()
         i += 1
 
-    dc = Control(logfile=filename, precision=(75 if saved else 150))
+    dc = Control(logfile=filename, precision=(50 if saved else 150))
     if (saved):
         dc.savedloop(human)
     else: