9 lines
915 B
Markdown
9 lines
915 B
Markdown
# How To Use
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## Running the Simulation
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Run ```pip install -r requirements.txt``` followed by ```python topSimulate.py```. Or, if your environment is already set up, just run the python file.
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Generated files will be saved to ```sim_results/``` in the directory where the python script is run from (likely the root directory of your repository clone).
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## Modifying the PID control algorithm
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Modify ```controller.py```. You will see constants related to heave, pitch, and roll controllers. Will update to include current control and will make simulation much more accurate soon.
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## Modifying pod parameters
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```parameters.py``` provides all necessary mechanical parameters. Yoke and sensor locations are matrices formed by putting together 4 column vectors of the form $\begin{bmatrix}x\\y\\z\end{bmatrix}$ relative to the center of mass. <br><br>```fmag2()``` within ```utils.py``` deals with the magnetic parameters.
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