diff --git a/.gitignore b/.gitignore
index 0c66ec45..be2b2712 100644
--- a/.gitignore
+++ b/.gitignore
@@ -41,3 +41,5 @@ analysis-master/dist
 data-analysis/config/
 analysis-master/tra_analysis/equation/__pycache__/Expression.cpython-38.pyc
 analysis-master/tra_analysis/equation/__pycache__/__init__.cpython-38.pyc
+analysis-master/tra_analysis/equation/__pycache__/parser.cpython-38.pyc
+analysis-master/tra_analysis/equation/__pycache__/py2.cpython-38.pyc
diff --git a/analysis-master/test_analysis.py b/analysis-master/test_analysis.py
index d281b5ef..da5286ab 100644
--- a/analysis-master/test_analysis.py
+++ b/analysis-master/test_analysis.py
@@ -1,6 +1,7 @@
 from tra_analysis import analysis as an
 from tra_analysis import metrics
 from tra_analysis import fits
+from tra_analysis.equation.parser import BNF
 
 def test_():
 	test_data_linear = [1, 3, 6, 7, 9]
@@ -32,4 +33,51 @@ def test_():
 	assert all(a == b for a, b in zip(an.Sort().bubblesort(test_data_scrambled), test_data_sorted))
 	assert all(a == b for a, b in zip(an.Sort().cyclesort(test_data_scrambled), test_data_sorted))
 	assert all(a == b for a, b in zip(an.Sort().cocktailsort(test_data_scrambled), test_data_sorted))
-	assert fits.CircleFit(x=[0,0,-1,1], y=[1, -1, 0, 0]).LSC() == (0.0, 0.0, 1.0, 0.0)
\ No newline at end of file
+	assert fits.CircleFit(x=[0,0,-1,1], y=[1, -1, 0, 0]).LSC() == (0.0, 0.0, 1.0, 0.0)
+
+	test_equation()
+
+def test_equation():
+
+	parser = BNF()
+
+	assert parser.eval("9") == 9.0
+	assert parser.eval("-9") == -9.0
+	assert parser.eval("--9") == 9.0
+	assert parser.eval("-E") == -2.718281828459045
+	assert parser.eval("9 + 3 + 6") == 18.0
+	assert parser.eval("9 + 3 / 11") == 9.272727272727273
+	assert parser.eval("(9 + 3)") == 12.0
+	assert parser.eval("(9+3) / 11") == 1.0909090909090908
+	assert parser.eval("9 - 12 - 6") == -9.0
+	assert parser.eval("9 - (12 - 6)") == 3.0
+	assert parser.eval("2*3.14159") == 6.28318
+	assert parser.eval("3.1415926535*3.1415926535 / 10") == 0.9869604400525172
+	assert parser.eval("PI * PI / 10") == 0.9869604401089358
+	assert parser.eval("PI*PI/10") == 0.9869604401089358
+	assert parser.eval("PI^2") == 9.869604401089358
+	assert parser.eval("round(PI^2)") == 10
+	assert parser.eval("6.02E23 * 8.048") == 4.844896e+24
+	assert parser.eval("e / 3") == 0.9060939428196817
+	assert parser.eval("sin(PI/2)") == 1.0
+	assert parser.eval("10+sin(PI/4)^2") == 10.5
+	assert parser.eval("trunc(E)") == 2
+	assert parser.eval("trunc(-E)") == -2
+	assert parser.eval("round(E)") == 3
+	assert parser.eval("round(-E)") == -3
+	assert parser.eval("E^PI") == 23.140692632779263
+	assert parser.eval("exp(0)") == 1.0
+	assert parser.eval("exp(1)") == 2.718281828459045
+	assert parser.eval("2^3^2") == 512.0
+	assert parser.eval("(2^3)^2") == 64.0
+	assert parser.eval("2^3+2") == 10.0
+	assert parser.eval("2^3+5") == 13.0
+	assert parser.eval("2^9") == 512.0
+	assert parser.eval("sgn(-2)") == -1
+	assert parser.eval("sgn(0)") == 0
+	assert parser.eval("sgn(0.1)") == 1
+	assert parser.eval("sgn(cos(PI/4))") == 1
+	assert parser.eval("sgn(cos(PI/2))") == 0
+	assert parser.eval("sgn(cos(PI*3/4))") == -1
+	assert parser.eval("+(sgn(cos(PI/4)))") == 1
+	assert parser.eval("-(sgn(cos(PI/4)))") == -1
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/equation/Expression.py b/analysis-master/tra_analysis/equation/Expression.py
deleted file mode 100644
index df2f73ff..00000000
--- a/analysis-master/tra_analysis/equation/Expression.py
+++ /dev/null
@@ -1,68 +0,0 @@
-# Titan Robotics Team 2022: Expression submodule
-# Written by Arthur Lu
-# Notes:
-#    this should be imported as a python module using 'from tra_analysis import equation'
-# setup:
-
-__version__ = "0.0.1-alpha"
-
-__changelog__ = """changelog:
-	0.0.1-alpha:
-		- took items from equation.ipynb and ported here
-"""
-
-__author__ = (
-	"Arthur Lu <learthurgo@gmail.com>",
-)
-
-import re
-from decimal import Decimal
-from functools import reduce
-
-class Expression:
-
-	def __init__(self, string):
-
-		self.string = string
-
-	def add(self, string):
-		while(len(re.findall("[+]{1}[-]?", string)) != 0):
-			string = re.sub("[-]?\d+[.]?\d*[+]{1}[-]?\d+[.]?\d*", str("%f" % reduce((lambda x, y: x + y), [Decimal(i) for i in re.split("[+]{1}", re.search("[-]?\d+[.]?\d*[+]{1}[-]?\d+[.]?\d*", string).group())])), string, 1)
-		return string
-
-	def sub(self, string):
-		while(len(re.findall("\d+[.]?\d*[-]{1,2}\d+[.]?\d*", string)) != 0):
-			g = re.search("\d+[.]?\d*[-]{1,2}\d+[.]?\d*", string).group()
-			if(re.search("[-]{1,2}", g).group() == "-"):
-				r = re.sub("[-]{1}", "+-", g, 1)
-				string = re.sub(g, r, string, 1)
-			elif(re.search("[-]{1,2}", g).group() == "--"):
-				r = re.sub("[-]{2}", "+", g, 1)
-				string = re.sub(g, r, string, 1)
-			else:
-				pass
-		return string
-
-	def mul(self, string):
-		while(len(re.findall("[*]{1}[-]?", string)) != 0):
-			string = re.sub("[-]?\d+[.]?\d*[*]{1}[-]?\d+[.]?\d*", str("%f" % reduce((lambda x, y: x * y), [Decimal(i) for i in re.split("[*]{1}", re.search("[-]?\d+[.]?\d*[*]{1}[-]?\d+[.]?\d*", string).group())])), string, 1)
-		return string
-
-	def div(self, string):
-		while(len(re.findall("[/]{1}[-]?", string)) != 0):
-			string = re.sub("[-]?\d+[.]?\d*[/]{1}[-]?\d+[.]?\d*", str("%f" % reduce((lambda x, y: x / y), [Decimal(i) for i in re.split("[/]{1}", re.search("[-]?\d+[.]?\d*[/]{1}[-]?\d+[.]?\d*", string).group())])), string, 1)
-		return string
-
-	def exp(self, string):
-		while(len(re.findall("[\^]{1}[-]?", string)) != 0):
-			string = re.sub("[-]?\d+[.]?\d*[\^]{1}[-]?\d+[.]?\d*", str("%f" % reduce((lambda x, y: x ** y), [Decimal(i) for i in re.split("[\^]{1}", re.search("[-]?\d+[.]?\d*[\^]{1}[-]?\d+[.]?\d*", string).group())])), string, 1)
-		return string
-
-	def evaluate(self):
-		string = self.string
-		string = self.exp(string)
-		string = self.div(string)
-		string = self.mul(string)
-		string = self.sub(string)
-		string = self.add(string)
-		return string
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/equation/__init__.py b/analysis-master/tra_analysis/equation/__init__.py
index 5948e0da..447703d3 100644
--- a/analysis-master/tra_analysis/equation/__init__.py
+++ b/analysis-master/tra_analysis/equation/__init__.py
@@ -1 +1 @@
-from .Expression import Expression
\ No newline at end of file
+from .parser import *
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/equation/parser.py b/analysis-master/tra_analysis/equation/parser.py
new file mode 100644
index 00000000..14e627fc
--- /dev/null
+++ b/analysis-master/tra_analysis/equation/parser.py
@@ -0,0 +1,119 @@
+# Titan Robotics Team 2022: Expression submodule
+# Written by Arthur Lu
+# Notes:
+#    this should be imported as a python module using 'from tra_analysis import equation'
+# 	 adapted from https://github.com/pyparsing/pyparsing/blob/master/examples/fourFn.py
+# setup:
+
+from __future__ import division
+
+__version__ = "0.0.2-alpha"
+
+__changelog__ = """changelog:
+	0.0.2-alpha:
+		- wrote BNF using pyparsing and uses a BNF metasyntax
+		- renamed this submodule parser
+	0.0.1-alpha:
+		- took items from equation.ipynb and ported here
+"""
+
+__author__ = (
+	"Arthur Lu <learthurgo@gmail.com>",
+)
+
+from pyparsing import (Literal, CaselessLiteral, Word, Combine, Group, Optional, ZeroOrMore, Forward, nums, alphas, oneOf)
+from . import py2
+import math
+import operator
+
+class BNF(object):
+
+	def pushFirst(self, strg, loc, toks):
+		self.exprStack.append(toks[0])
+
+	def pushUMinus(self, strg, loc, toks):
+		if toks and toks[0] == '-':
+			self.exprStack.append('unary -')
+
+	def __init__(self):
+		"""
+		expop   :: '^'
+		multop  :: '*' | '/'
+		addop   :: '+' | '-'
+		integer :: ['+' | '-'] '0'..'9'+
+		atom    :: PI | E | real | fn '(' expr ')' | '(' expr ')'
+		factor  :: atom [ expop factor ]*
+		term    :: factor [ multop factor ]*
+		expr    :: term [ addop term ]*
+		"""
+		point = Literal(".")
+		e = CaselessLiteral("E")
+		fnumber = Combine(Word("+-" + nums, nums) +
+						  Optional(point + Optional(Word(nums))) +
+						  Optional(e + Word("+-" + nums, nums)))
+		ident = Word(alphas, alphas + nums + "_$")
+		plus = Literal("+")
+		minus = Literal("-")
+		mult = Literal("*")
+		div = Literal("/")
+		lpar = Literal("(").suppress()
+		rpar = Literal(")").suppress()
+		addop = plus | minus
+		multop = mult | div
+		expop = Literal("^")
+		pi = CaselessLiteral("PI")
+		expr = Forward()
+		atom = ((Optional(oneOf("- +")) +
+				 (ident + lpar + expr + rpar | pi | e | fnumber).setParseAction(self.pushFirst))
+				| Optional(oneOf("- +")) + Group(lpar + expr + rpar)
+				).setParseAction(self.pushUMinus)
+		factor = Forward()
+		factor << atom + \
+			ZeroOrMore((expop + factor).setParseAction(self.pushFirst))
+		term = factor + \
+			ZeroOrMore((multop + factor).setParseAction(self.pushFirst))
+		expr << term + \
+			ZeroOrMore((addop + term).setParseAction(self.pushFirst))
+
+		self.bnf = expr
+
+		epsilon = 1e-12
+		
+		self.opn = {"+": operator.add,
+					"-": operator.sub,
+					"*": operator.mul,
+					"/": operator.truediv,
+					"^": operator.pow}
+		self.fn = {"sin": math.sin,
+				   "cos": math.cos,
+				   "tan": math.tan,
+				   "exp": math.exp,
+				   "abs": abs,
+				   "trunc": lambda a: int(a),
+				   "round": round,
+				   "sgn": lambda a: abs(a) > epsilon and py2.cmp(a, 0) or 0}
+
+	def evaluateStack(self, s):
+		op = s.pop()
+		if op == 'unary -':
+			return -self.evaluateStack(s)
+		if op in "+-*/^":
+			op2 = self.evaluateStack(s)
+			op1 = self.evaluateStack(s)
+			return self.opn[op](op1, op2)
+		elif op == "PI":
+			return math.pi
+		elif op == "E":
+			return math.e
+		elif op in self.fn:
+			return self.fn[op](self.evaluateStack(s))
+		elif op[0].isalpha():
+			return 0
+		else:
+			return float(op)
+
+	def eval(self, num_string, parseAll=True):
+		self.exprStack = []
+		results = self.bnf.parseString(num_string, parseAll)
+		val = self.evaluateStack(self.exprStack[:])
+		return val
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/equation/py2.py b/analysis-master/tra_analysis/equation/py2.py
new file mode 100644
index 00000000..e9afa9a5
--- /dev/null
+++ b/analysis-master/tra_analysis/equation/py2.py
@@ -0,0 +1,21 @@
+# Titan Robotics Team 2022: py2 module
+# Written by Arthur Lu
+# Notes:
+#    this module should only be used internally, contains old python 2.X functions that have been removed.
+# setup:
+
+from __future__ import division
+
+__version__ = "1.0.0"
+
+__changelog__ = """changelog:
+	1.0.0:
+        - added cmp function
+"""
+
+__author__ = (
+	"Arthur Lu <learthurgo@gmail.com>",
+)
+
+def cmp(a, b):
+    return (a > b) - (a < b) 
\ No newline at end of file