nass-simscape/kinematics/sample_pos_init.m

%%
clear; close all; clc;

%% Initialize simulation configuration
opts_sim = struct(...
    'Tsim', 0.001 ...
);

initializeSimConf(opts_sim);

%% Initialize Inputs
load('./mat/sim_conf.mat', 'sim_conf')

time_vector = 0:sim_conf.Ts:sim_conf.Tsim;

% Translation Stage
Ty = 0*ones(length(time_vector), 1);

% Tilt Stage
Ry = 2*pi*(0/360)*ones(length(time_vector), 1);
% Ry = 2*pi*(3/360)*sin(2*pi*time_vector);

% Spindle
Rz = 2*pi*0*(time_vector);
% Rz = 2*pi*(190/360)*ones(length(time_vector), 1);

% Micro Hexapod
Dh = zeros(length(time_vector), 6);

% Gravity Compensator system
Dm = zeros(length(time_vector), 2);
Dm(:, 2) = pi;

opts_inputs = struct(...
    'Ty', Ty, ...
    'Ry', Ry, ...
    'Rz', Rz, ...
    'Dh', Dh, ...
    'Dm', Dm ...
);

initializeInputs(opts_inputs);

%% Initialize Ground
initializeGround();

%% Initialize Granite
initializeGranite();

%% Initialize Translation stage
initializeTy();

%% Initialize Tilt Stage
initializeRy();

%% Initialize Spindle
initializeRz();

%% Initialize Hexapod Sym<EFBFBD>trie
initializeMicroHexapod();

%% Initialize Center of Gravity compensation
initializeAxisc();

%% Initialize NASS
initializeNanoHexapod(struct('actuator', 'piezo'));

%% Initialize Sample
initializeSample(struct('mass', 20));