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Update the initialization functions

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This commit is contained in:
Thomas Dehaeze
2019-11-22 10:36:26 +01:00
parent 4a6a8ee0bc
commit 080996e579
14 changed files with 130 additions and 92 deletions
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12
src/initializeNanoHexapod.m
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@@ -1,12 +1,12 @@
% Nano Hexapod
% :PROPERTIES:
% :header-args:matlab+: :tangle src/initializeNanoHexapod.m
% :header-args:matlab+: :tangle ../src/initializeNanoHexapod.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeNanoHexapod>>
% This Matlab function is accessible [[file:src/initializeNanoHexapod.m][here]].
% This Matlab function is accessible [[file:../src/initializeNanoHexapod.m][here]].
function [nano_hexapod] = initializeNanoHexapod(opts_param)
@@ -85,7 +85,7 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param)
SP.color.bottom = [0.7 0.7 0.7]; % [rgb]
SP.color.top = [0.7 0.7 0.7]; % [rgb]
SP.k.ax = 0; % [N*m/deg]
SP.ksi.ax = 3;
SP.ksi.ax = 0;
SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
@@ -115,7 +115,11 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param)
function [element] = updateDamping(element)
field = fieldnames(element.k);
for i = 1:length(field)
element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
if element.ksi.(field{i}) > 0
element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
else
element.c.(field{i}) = 0;
end
end
end