Align the centers of rotation of Ry, Hexa, NASS with the sample

demonstration/displacement_init.m

@@ -58,11 +58,11 @@ mass((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts, 1) = mass((T_mas
 mass((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts, 2) = mass((T_mass_start+2)/sim_conf.Ts, 2)-2*pi*(-10/360)*(time_vector((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts)-time_vector((T_mass_start+3)/sim_conf.Ts));
 
 opts_inputs = struct(...
-    'ty', ty, ...
-    'ry', ry, ...
-    'rz', rz, ...
-    'u_hexa', u_hexa, ...
-    'mass', mass ...
+    'Dy', ty, ...
+    'Ry', ry, ...
+    'Rz', rz, ...
+    'Dh', u_hexa, ...
+    'Rm', mass ...
 );
 
 initializeInputs(opts_inputs);

demonstration/sample_pos_init.m

@@ -3,7 +3,7 @@ clear; close all; clc;
 
 %% Initialize simulation configuration
 opts_sim = struct(...
-    'Tsim', 0.1     ...
+    'Tsim', 0.001 ...
 );
 
 initializeSimConf(opts_sim);
@@ -14,14 +14,14 @@ load('./mat/sim_conf.mat', 'sim_conf')
 time_vector = 0:sim_conf.Ts:sim_conf.Tsim;
 
 % Translation Stage
-Ty = 0.20*ones(length(time_vector), 1);
+Ty = 0*ones(length(time_vector), 1);
 
 % Tilt Stage
-Ry = 2*pi*(3/360)*ones(length(time_vector), 1);
+Ry = 2*pi*(0/360)*ones(length(time_vector), 1);
 % Ry = 2*pi*(3/360)*sin(2*pi*time_vector);
 
 % Spindle
-Rz = 2*pi*3*(time_vector);
+Rz = 2*pi*0*(time_vector);
 % Rz = 2*pi*(190/360)*ones(length(time_vector), 1);
 
 % Micro Hexapod