system identification

Introduction

This is where we find our physics models of the robot based on experimental data.

Setup

Prerequisites: Python 3 must be installed

1. Install pipenv using pip

pip install pipenv

2. Initialize a virtual environment

pipenv update

How to Run

System ID can be done by running

pipenv run python3 main.py [module]

where [module] is the module you want to run. You can also individually test the modules by going to the appropriate subdirectory and running:

pipenv run python3 module_id.py

where module_id.py is the name of the module's system ID script.

Modules

Currently we have system ID tools for the following modules and their module argument for main.py:

• Swerve (module: swerve)