Add modal-analysis type to all stages

simscape_subsystems/index.org

@@ -211,7 +211,7 @@ The model of the Ground is composed of:
 :END:
 #+begin_src matlab
   arguments
-      args.type char {mustBeMember(args.type,{'none', 'solid'})} = 'solid'
+      args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
   end
 #+end_src
 
@@ -232,7 +232,7 @@ First, we initialize the =granite= structure.
   switch args.type
     case 'none'
       ground.type = 0;
-    case 'solid'
+    case 'rigid'
       ground.type = 1;
   end
 #+end_src
@@ -298,7 +298,7 @@ The output =sample_pos= corresponds to the impact point of the X-ray.
 :END:
 #+begin_src matlab
   arguments
-    args.type          char   {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
+    args.type          char   {mustBeMember(args.type,{'rigid', 'flexible', 'none', 'modal-analysis'})} = 'flexible'
     args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
     args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
     args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
@@ -328,6 +328,8 @@ First, we initialize the =granite= structure.
       granite.type = 1;
     case 'flexible'
       granite.type = 2;
+    case 'modal-analysis'
+      granite.type = 3;
   end
 #+end_src
 
@@ -421,7 +423,7 @@ The Simscape model of the Translation stage consist of:
 :END:
 #+begin_src matlab
   arguments
-    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
     args.x11 (1,1) double {mustBeNumeric} = 0 % [m]
     args.z11 (1,1) double {mustBeNumeric} = 0 % [m]
     args.x21 (1,1) double {mustBeNumeric} = 0 % [m]
@@ -455,6 +457,8 @@ First, we initialize the =ty= structure.
       ty.type = 1;
     case 'flexible'
       ty.type = 2;
+    case 'modal-analysis'
+      ty.type = 3;
   end
 #+end_src
 
@@ -580,7 +584,7 @@ The Simscape model of the Tilt stage is composed of:
 :END:
 #+begin_src matlab
   arguments
-    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
     args.x11 (1,1) double {mustBeNumeric} = 0 % [m]
     args.y11 (1,1) double {mustBeNumeric} = 0 % [m]
     args.z11 (1,1) double {mustBeNumeric} = 0 % [m]
@@ -618,6 +622,8 @@ First, we initialize the =ry= structure.
       ry.type = 1;
     case 'flexible'
       ry.type = 2;
+    case 'modal-analysis'
+      ry.type = 3;
   end
 #+end_src
 
@@ -733,7 +739,7 @@ The Simscape model of the Spindle is composed of:
 :END:
 #+begin_src matlab
   arguments
-    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
     args.x0  (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
     args.y0  (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
     args.z0  (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
@@ -764,6 +770,8 @@ First, we initialize the =rz= structure.
       rz.type = 1;
     case 'flexible'
       rz.type = 2;
+    case 'modal-analysis'
+      rz.type = 3;
   end
 #+end_src
 
@@ -856,6 +864,7 @@ The =rz= structure is saved.
 :END:
 #+begin_src matlab
   arguments
+      args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
       % initializeFramesPositions
       args.H    (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
       args.MO_B (1,1) double {mustBeNumeric} = 270e-3
@@ -913,6 +922,22 @@ Equilibrium position of the each joint.
   micro_hexapod.dLeq = args.dLeq;
 #+end_src
 
+
+** Add Type
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+  switch args.type
+    case 'none'
+      micro_hexapod.type = 0;
+    case 'rigid'
+      micro_hexapod.type = 1;
+    case 'flexible'
+      micro_hexapod.type = 2;
+  end
+#+end_src
+
 ** Save the Structure
 :PROPERTIES:
 :UNNUMBERED: t
@@ -962,7 +987,7 @@ The Simscape model of the Center of gravity compensator is composed of:
 :END:
 #+begin_src matlab
   arguments
-    args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+    args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
   end
 #+end_src
 
@@ -987,6 +1012,8 @@ First, we initialize the =axisc= structure.
       axisc.type = 1;
     case 'flexible'
       axisc.type = 2;
+    case 'modal-analysis'
+      axisc.type = 3;
   end
 #+end_src
 
@@ -1197,6 +1224,7 @@ The =mirror= structure is saved.
 :END:
 #+begin_src matlab
   arguments
+      args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
       % initializeFramesPositions
       args.H    (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
       args.MO_B (1,1) double {mustBeNumeric} = 175e-3
@@ -1258,6 +1286,21 @@ The =mirror= structure is saved.
   nano_hexapod.dLeq = args.dLeq;
 #+end_src
 
+** Add Type
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+  switch args.type
+    case 'none'
+      nano_hexapod.type = 0;
+    case 'rigid'
+      nano_hexapod.type = 1;
+    case 'flexible'
+      nano_hexapod.type = 2;
+  end
+#+end_src
+
 ** Save the Structure
 :PROPERTIES:
 :UNNUMBERED: t