def compute_fai(self):
filtered_values = signal.lfilter(self.b, self.a,
self.sensor_values, axis=0)
# print shape()
finger1 = filtered_values[-1][0:1].sum()
finger2 = filtered_values[-1][1:2].sum()
finger3 = filtered_values[-1][2:3].sum()
msg = FingerSAI()
msg.finger1 = float(finger1)
msg.finger2 = float(finger2)
msg.finger3 = float(finger3)
self.fai_pub.publish(msg)
if self.recording:
t = time()
self.data['fair'].append((t, right))
self.data['fail'].append((t, left))
self.data['faim'].append((t, middle))
signals.py 文件源码
python
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