Add script for showing all the possible displacement

initialize/initializeInputs.m

@@ -4,7 +4,7 @@ function [inputs] = initializeInputs(opts_param)
                   'ground_motion', false, ...
                   'ty', false, ...
                   'ry', false, ...
-                  'rz', false, ...
+                  'rz', false, ... % If numerical value, rpm speed of the spindle
                   'u_hexa', false, ...
                   'mass', false, ...
                   'n_hexa', false  ...
@@ -27,13 +27,13 @@ function [inputs] = initializeInputs(opts_param)
     inputs = struct();
 
     %% Ground motion
-    if opts.ground_motion == true
+    if islogical(opts.ground_motion) && opts.ground_motion == true
         load('./mat/weight_Wxg.mat', 'Wxg');
         ground_motion = 1/sqrt(2)*100*random('norm', 0, 1, length(time_vector), 3);
         ground_motion(:, 1) = lsim(Wxg, ground_motion(:, 1), time_vector);
         ground_motion(:, 2) = lsim(Wxg, ground_motion(:, 2), time_vector);
         ground_motion(:, 3) = lsim(Wxg, ground_motion(:, 3), time_vector);
-    elseif opts.ground_motion == false
+    elseif islogical(opts.ground_motion) && opts.ground_motion == false
         ground_motion = zeros(length(time_vector), 3);
     else
         ground_motion = opts.ground_motion;
@@ -42,9 +42,9 @@ function [inputs] = initializeInputs(opts_param)
     inputs.ground_motion = timeseries(ground_motion, time_vector);
 
     %% Translation stage [m]
-    if opts.ty == true
+    if islogical(opts.ty) && opts.ty == true
         ty = zeros(length(time_vector), 1);
-    elseif opts.ty == false
+    elseif islogical(opts.ty) && opts.ty == false
         ty = zeros(length(time_vector), 1);
     else
         ty = opts.ty;
@@ -53,9 +53,9 @@ function [inputs] = initializeInputs(opts_param)
     inputs.ty = timeseries(ty, time_vector);
 
     %% Tilt Stage [rad]
-    if opts.ry == true
+    if islogical(opts.ry) && opts.ry == true
         ry = 3*(2*pi/360)*sin(2*pi*0.2*time_vector);
-    elseif opts.ry == false
+    elseif islogical(opts.ry) && opts.ry == false
         ry = zeros(length(time_vector), 1);
     else
         ry = opts.ry;
@@ -64,10 +64,12 @@ function [inputs] = initializeInputs(opts_param)
     inputs.ry = timeseries(ry, time_vector);
 
     %% Spindle [rad]
-    if opts.rz == true
+    if islogical(opts.rz) && opts.rz == true
         rz = 2*pi*0.5*time_vector;
-    elseif opts.rz == true
+    elseif islogical(opts.rz) && opts.rz == false
         rz = zeros(length(time_vector), 1);
+    elseif isnumeric(opts.rz) && length(opts.rz) == 1
+        rz = 2*pi*(opts.rz/60)*time_vector;
     else
         rz = opts.rz;
     end
@@ -75,9 +77,9 @@ function [inputs] = initializeInputs(opts_param)
     inputs.rz = timeseries(rz, time_vector);
 
     %% Micro Hexapod
-    if opts.setpoint == true
+    if islogical(opts.u_hexa) && opts.setpoint == true
         u_hexa = zeros(length(time_vector), 6);
-    elseif opts.setpoint == false
+    elseif islogical(opts.u_hexa) && opts.setpoint == false
         u_hexa = zeros(length(time_vector), 6);
     else
         u_hexa = opts.u_hexa;
@@ -86,9 +88,9 @@ function [inputs] = initializeInputs(opts_param)
     inputs.micro_hexapod = timeseries(u_hexa, time_vector);
 
     %% Center of gravity compensation
-    if opts.setpoint == true
+    if islogical(opts.mass) && opts.setpoint == true
         mass = zeros(length(time_vector), 2);
-    elseif opts.setpoint == false
+    elseif islogical(opts.mass) && opts.setpoint == false
         mass = zeros(length(time_vector), 2);
     else
         mass = opts.mass;
@@ -97,9 +99,9 @@ function [inputs] = initializeInputs(opts_param)
     inputs.axisc = timeseries(mass, time_vector);
 
     %% Nano Hexapod
-    if opts.setpoint == true
+    if islogical(opts.n_hexa) && opts.setpoint == true
         n_hexa = zeros(length(time_vector), 6);
-    elseif opts.setpoint == false
+    elseif islogical(opts.n_hexa) && opts.setpoint == false
         n_hexa = zeros(length(time_vector), 6);
     else
         n_hexa = opts.n_hexa;
@@ -108,10 +110,10 @@ function [inputs] = initializeInputs(opts_param)
     inputs.nano_hexapod = timeseries(n_hexa, time_vector);
 
     %% Set point [m, rad]
-    if opts.setpoint == true
+    if islogical(opts.setpoint) && opts.setpoint == true
         setpoint = zeros(length(time_vector), 6);
         setpoint(ceil(10/sim_conf.Ts):end, 2) = 1e-6; % Step of 1 micro-meter in y direction
-    elseif opts.setpoint == false
+    elseif islogical(opts.setpoint) && opts.setpoint == false
         setpoint = zeros(length(time_vector), 6);
     else
         setpoint = opts.setpoint;

initialize/initializeSample.m

@@ -4,7 +4,7 @@ function [] = initializeSample(opts_param)
                     'height', 300,...
                     'mass',   50,...
                     'offset', 0,...
-                    'color',  [0.9 0.1 0.1] ...
+                    'color',  [0.45, 0.45, 0.45] ...
     );
 
     %% Populate opts with input parameters