The system is now quite well tuned

simscape/index.org

@@ -1069,7 +1069,7 @@ end
 This Matlab function is accessible [[file:../src/initializeGranite.m][here]].
 
 #+begin_src matlab
-  function [granite] = initializeGranite()
+  function [granite] = initializeGranite(opts_param)
       %% Default values for opts
       opts = struct('rigid', false);
 
@@ -1399,7 +1399,11 @@ This Matlab function is accessible [[file:../src/initializeMicroHexapod.m][here]
       Leg = struct();
 
       Leg.stroke     = 10e-3; % Maximum Stroke of each leg [m]
-      Leg.k.ax       = 5e7;   % Stiffness of each leg [N/m]
+      if opts.rigid
+        Leg.k.ax     = 1e12; % Stiffness of each leg [N/m]
+      else
+        Leg.k.ax     = 2e7; % Stiffness of each leg [N/m]
+      end
       Leg.ksi.ax     = 0.1;     % Modal damping ksi = 1/2*c/sqrt(km) []
       Leg.rad.bottom = 25;    % Radius of the cylinder of the bottom part [mm]
       Leg.rad.top    = 17;    % Radius of the cylinder of the top part [mm]
@@ -1585,8 +1589,8 @@ This Matlab function is accessible [[file:../src/initializeAxisc.m][here]].
       axisc.m      = 40; % TODO [kg]
 
       %% Axis Compensator - Dynamical Properties
-      axisc.k.ax   = 1; % TODO [N*m/deg)]
-      axisc.c.ax   = (1/1)*sqrt(axisc.k.ax/axisc.m);
+      % axisc.k.ax   = 1; % TODO [N*m/deg)]
+      % axisc.c.ax   = (1/1)*sqrt(axisc.k.ax/axisc.m);
 
       %% Save
       save('./mat/stages.mat', 'axisc', '-append');