How To Use
Running the Simulation
Run pip install -r requirements.txt followed by python topSimulate.py. Or, if your environment is already set up, just run the python file.
Modifying the PID control algorithm
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.
Modifying pod parameters
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. fmag2() within utils.py deals with the magnetic parameters.