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matlab/calc_kinematics.m

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+%% this script computes the transforamtion matrices for piezo to pseudo coordinates
+
+fjpur_111 = [-140; -67.5; 0]*0.001;
+fjpuh_111 = [-140; (220-67.5); 0]*0.001;
+fjpd_111 = [140; (110-67.5); 0]*0.001;
+
+fjpur_311 = [-140; -(220-67.5); 0]*0.001;
+fjpuh_311 = [-140; 67.5; 0]*0.001;
+fjpd_311 = [140; -(110-67.5); 0]*0.001;
+
+A_p2r_111 = [1 -1*fjpur_111(1) fjpur_111(2); 1 -1*fjpuh_111(1) fjpuh_111(2); 1 -1*fjpd_111(1) fjpd_111(2)];
+A_p2r_311 = [1 -1*fjpur_311(1) fjpur_311(2); 1 -1*fjpuh_311(1) fjpuh_311(2); 1 -1*fjpd_311(1) fjpd_311(2)];
+
+A_r2p_111 = inv(A_p2r_111);
+A_r2p_311 = inv(A_p2r_311);
+
+A_x2p = [-1 0 0; 0 1 0; 0 0 1];
+B_x2p = [0 0 0];
+
+motor_pos2mv = 0.6667; %modified by Ludovic 12/07/2021
+% % no calibr
+calibr_fjpur = (1);
+calibr_fjpuh = (1);
+calibr_fjpd =  (1);
+
+%calibr
+% calibr_fjpur = (1-0.016);
+% calibr_fjpuh = (1+0.052);
+% calibr_fjpd =  (1+0.0065);
+
+calibr_mat = [calibr_fjpur 0 0;0 calibr_fjpuh 0;0 0 calibr_fjpd];
+

matlab/figs

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+../figs

matlab/src/extractDatData.m

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+function [data_struct] = extractDatData(dat_file, names, scale)
+% extractDatData -
+%
+% Syntax: extractDatData(data_file, lut_file, args)
+%
+% Inputs:
+%    - data_file - Where to load the .mat file
+%    - lut_file - Where to save the .dat file
+
+%% Load Data
+data_array = importdata(dat_file);
+
+%% Initialize Struct
+data_struct = struct();
+
+%% Populate Struct
+for i = 1:length(names)
+      data_struct.(names{i}) = scale(i)*data_array(:,i);
+end
+
+%% Add Time
+data_struct.time = 1e-4*[1:1:length(data_struct.(names{1}))];

matlab/src/processMeasData.m

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+function [data] = processMeasData(data, args)
+% processMeasData -
+%
+% Syntax: processMeasData(data_file, lut_file, args)
+%
+% Inputs:
+%    - data
+
+arguments
+    data
+    args.fir_order (1,1) double {mustBeNumericOrLogical} = 5000
+end
+
+%% Actuator Jacobian
+J_a_111 = [1,  0.14, -0.0675
+           1,  0.14,  0.1525
+           1, -0.14,  0.0425];
+
+%% FIR Filter
+Fs = 1e4; % Sampling Frequency [Hz]
+fir_order = args.fir_order; % Filter's order
+delay = fir_order/2; % Delay induced by the filter
+B_fir = firls(args.fir_order, ... % Filter's order
+              [0 50/(Fs/2)  0.1e3/(Fs/2) 1], ... % Frequencies [Hz]
+              [1 1          0          0]); % Wanted Magnitudes
+
+data.ddz  = 10.5e-3./(2*cos(data.bragg)) - data.dz;
+
+%% Computation of the position of the FJ as measured by the interferometers
+error = J_a_111 * [data.ddz, data.dry, data.drx]';
+
+data.fjur_e = error(1,:)'; % [m]
+data.fjuh_e = error(2,:)'; % [m]
+data.fjd_e  = error(3,:)'; % [m]
+
+%% Filtering all measured Fast Jack Position using the FIR filter
+data.fjur_e_filt = filter(B_fir, 1, data.fjur_e);
+data.fjuh_e_filt = filter(B_fir, 1, data.fjuh_e);
+data.fjd_e_filt  = filter(B_fir, 1, data.fjd_e);
+
+%% Compensation of the delay introduced by the FIR filter
+data.fjur_e_filt(1:end-delay) = data.fjur_e_filt(delay+1:end);
+data.fjuh_e_filt(1:end-delay) = data.fjuh_e_filt(delay+1:end);
+data.fjd_e_filt( 1:end-delay) = data.fjd_e_filt( delay+1:end);
+
+%% Re-sample data to have same data points in FJUR
+[data.fjur_e_resampl, data.fjur_resampl] = resample(data.fjur_e_filt, data.fjur, 1/100e-9);
+[data.fjuh_e_resampl, data.fjuh_resampl] = resample(data.fjuh_e_filt, data.fjuh, 1/100e-9);
+[data.fjd_e_resampl,  data.fjd_resampl]  = resample(data.fjd_e_filt,  data.fjd,  1/100e-9);