nass-simscape/init_data.m

59 lines
973 B
Mathematica
Raw Normal View History

%%
2018-06-16 22:57:54 +02:00
clear; close all; clc;
2018-04-11 13:44:50 +02:00
%% Initialize simulation configuration
opts_sim = struct(...
'Tsim', 5 ...
);
initializeSimConf(opts_sim);
2018-06-16 22:57:54 +02:00
%% Initialize Inputs
opts_inputs = struct(...
'Dw', true, ...
'ry', false, ...
'Rz', true ...
2018-06-16 22:57:54 +02:00
);
2018-06-16 22:57:54 +02:00
initializeInputs(opts_inputs);
2018-10-12 13:22:29 +02:00
%% Initialize Solids
initializeSolids();
2018-06-16 22:57:54 +02:00
%% Initialize Ground
initializeGround();
2018-06-16 22:57:54 +02:00
%% Initialize Granite
initializeGranite();
2018-04-24 15:48:17 +02:00
2018-06-16 22:57:54 +02:00
%% Initialize Translation stage
initializeTy();
2018-06-16 22:57:54 +02:00
%% Initialize Tilt Stage
initializeRy();
2018-04-11 13:44:50 +02:00
2018-06-16 22:57:54 +02:00
%% Initialize Spindle
initializeRz();
2018-06-16 22:57:54 +02:00
%% Initialize Hexapod Sym<EFBFBD>trie
initializeMicroHexapod();
2018-04-11 13:44:50 +02:00
2018-06-16 22:57:54 +02:00
%% Initialize Center of Gravity compensation
initializeAxisc();
2018-06-16 22:57:54 +02:00
%% Initialize NASS
initializeNanoHexapod(struct('actuator', 'lorentz'));
%% Initialize the Mirror
2018-09-29 19:08:05 +02:00
initializeMirror(struct('shape', 'spherical'));
2018-06-16 22:57:54 +02:00
%% Initialize Sample
initializeSample(struct('mass', 20));
%% Controllers
K = tf(zeros(6));
K_iff = tf(zeros(6));
save('./mat/controllers.mat', 'K', 'K_iff');