We not specify rotation instead of torque for the spindle

init_inputs.m

@@ -8,7 +8,7 @@ time_vector = 0:Ts:Tsim;
 %% Set point [m, rad]
 setpoint = zeros(length(time_vector), 6);
 
-setpoint(ceil(1/Ts):end, 2) = 1e-6;
+% setpoint(ceil(1/Ts):end, 2) = 1e-6;
 
 r_setpoint = timeseries(setpoint, time_vector);
 
@@ -29,16 +29,18 @@ r_Gm = timeseries(xg, time_vector);
 % figure;
 % plot(r_Gm)
 
-%% Translation stage
+%% Translation stage [m]
 r_Ty = timeseries(zeros(length(time_vector), 1), time_vector);
 
-%% Tilt Stage
+%% Tilt Stage [deg]
 r_My = timeseries(zeros(length(time_vector), 1), time_vector);
 
-%% Spindle
-r_Mz = timeseries(zeros(length(time_vector), 1), time_vector);
+%% Spindle [deg]
+% r_spindle = zeros(length(time_vector), 1);
 
-% r_Mz = timeseries(360*time_vector*rz.k.rot', time_vector);
+r_spindle = 2*pi*time_vector;
+
+r_Mz = timeseries(r_spindle, time_vector);
 
 %% Micro Hexapod
 r_u_hexa = timeseries(zeros(length(time_vector), 6), time_vector);