Remove useless parameters and add some comments

Data.m

@@ -4,79 +4,96 @@ run Sample.m
 
 %% Solver Configuration
 Ts   = 1e-4; % Sampling time [s]
-Tsim = 1; % Simulation time [s]
+Tsim = 1;    % Simulation time [s]
 
 %% Gravity 
-g = 0 ; % [m/s^2]
+g = 0 ; % Gravity along the z axis [m/s^2]
+
+%% Granite
+granite = struct();
+
+granite.m = smiData.Solid(5).mass;
+granite.k.ax = 1e10; % x-y-z Stiffness of the granite [N/m]
+granite.ksi.ax = 10;
+
+granite = updateDamping(granite);
 
 %% Translation stage
 ty = struct();
+
 ty.m = smiData.Solid(4).mass+smiData.Solid(6).mass+smiData.Solid(7).mass+smiData.Solid(8).mass+smiData.Solid(9).mass+4*smiData.Solid(11).mass+smiData.Solid(24).mass+smiData.Solid(25).mass+smiData.Solid(28).mass;
-ty.k.ax = 1e7/4; %z
+
-ty.k.rad = 9e9/4; %x
+ty.k.ax   = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m]
-ty.k.rrad = 9e9/4; %y
+ty.k.rad  = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m] 
-ty.ksi.ax = 10;
+
-ty.ksi.rad = 10;
+ty.ksi.ax   = 10;
-ty.ksi.rrad = 10;
+ty.ksi.rad  = 10;
+
 ty = updateDamping(ty);
 
-
+%% Tilt Stage
-%% Tilt
 ry = struct();
+
 ry.m = smiData.Solid(26).mass+smiData.Solid(18).mass+smiData.Solid(10).mass;
-ry.k.h = 357e6/4; %y
+
-ry.k.rad = 555e6/4; %x
+ry.k.h    = 357e6/4; % Stiffness in the direction of the guidance [N/m]
-ry.k.rrad = 238e6/4; %z
+ry.k.rad  = 555e6/4; % Stiffness in the top direction [N/m]
-ry.k.tilt = 1e4 ; % rz in actuator
+ry.k.rrad = 238e6/4; % Stiffness in the side direction [N/m]
-ry.ksi.h = 10;
+ry.k.tilt = 1e4 ;    % Rotation stiffness around y [N*m/deg]
-ry.ksi.rad = 10;
+
+ry.ksi.h    = 10;
+ry.ksi.rad  = 10;
 ry.ksi.rrad = 10;
 ry.ksi.tilt = 10;
+
 ry = updateDamping(ry);
 
 
 %% Spindle
 rz = struct();
+
 rz.m = smiData.Solid(12).mass+6*smiData.Solid(20).mass+smiData.Solid(19).mass;
-rz.k.ax = 2e9; %x
+
-rz.k.rad = 7e8; %z
+rz.k.ax   = 2e9; % Axial Stiffness [N/m]
-rz.k.rrad = 7e8; %y
+rz.k.rad  = 7e8; % Radial Stiffness [N/m]
-rz.k.tilt = 1e5;
+rz.k.tilt = 1e5; % TODO
-rz.k.rot = 1e5;
+rz.k.rot  = 1e5; % TODO
-rz.ksi.ax = 10;
+
-rz.ksi.rad = 10;
+rz.ksi.ax   = 10;
-rz.ksi.rrad = 10;
+rz.ksi.rad  = 10;
 rz.ksi.tilt = 1;
-rz.ksi.rot = 1;
+rz.ksi.rot  = 1;
+
 rz = updateDamping(rz);
 
 %% Hexapod Symétrie
+% TODO - is now defined by the stewart-simscape project
 hexapod = struct();
-hexapod.m = smiData.Solid(16).mass;
+
-hexapod.k.ax = (138e6/6)*1.2; %z
+hexapod.m      = smiData.Solid(16).mass;
+hexapod.k.ax   = (138e6/6)*1.2; % Leg stiffness [N/m]
 hexapod.ksi.ax = 10;
+
 hexapod = updateDamping(hexapod);
 
-%% Axis Corrector
+%% Center of gravity compensation
 axisc = struct();
-axisc.m = smiData.Solid(30).mass;
+
-axisc.k.ax = 1; % (N*m/deg))
+axisc.m      = smiData.Solid(30).mass;
+axisc.k.ax   = 1; % TODO [N*m/deg)]
 axisc.ksi.ax = 1;
+
 axisc = updateDamping(axisc);
 
 %% NASS
+% TODO - is now defined by the stewart-simscape project
 nass = struct();
-nass.m = smiData.Solid(27).mass;
-nass.k.ax = 5e7; %z
-nass.ksi.ax = 10;
-nass = updateDamping(nass);
 
-%% Wobble
+nass.m      = smiData.Solid(27).mass;
-wob = struct();
+nass.k.ax   = 5e7; % Leg stiffness [N/m]
-wob.m = smiData.Solid(5).mass;
+nass.ksi.ax = 10;
-wob.k.ax = 1e10;
+
-wob.ksi.ax = 10;
+nass = updateDamping(nass);
-wob = updateDamping(wob);
 
 %%
 function element = updateDamping(element)
@@ -85,4 +102,3 @@ function element = updateDamping(element)
         element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
     end
 end
-