Add some data logging to enable system identification #11
Description
Summary
Having data of maneuvers would be helpful for us for system modeling. This could be another way of determining the feedforward parameters in #10.
The objective here is mainly to make it possible to collect data. Once we collect data we can do curve fitting in python to characterize the system.
Work Scope
- Add data logging to each subsystem where tuning is of interest (drive, wrist, pivot, telescope)
Verification
- Code review
- Robot testing
@FujiBookPro assigning this to you since you mentioned that you're interested in simulation.