Add Cedrat Actuator

src/initializeCedratPiezo.m

@@ -0,0 +1,38 @@
+% Cedrat Actuator
+%   :PROPERTIES:
+%   :header-args:matlab+: :tangle ../src/initializeCedratPiezo.m
+%   :header-args:matlab+: :comments org :mkdirp yes
+%   :header-args:matlab+: :eval no :results none
+%   :END:
+%   <<sec:initializeCedratPiezo>>
+
+% This Matlab function is accessible [[file:../src/initializeCedratPiezo.m][here]].
+
+
+function [cedrat] = initializeCedratPiezo(opts_param)
+  %% Default values for opts
+  opts = struct();
+
+  %% Populate opts with input parameters
+  if exist('opts_param','var')
+      for opt = fieldnames(opts_param)'
+          opts.(opt{1}) = opts_param.(opt{1});
+      end
+  end
+
+  %% Stewart Object
+  cedrat = struct();
+  cedrat.k = 10e7; % Linear Stiffness of each "blade" [N/m]
+  cedrat.ka = 10e7; % Linear Stiffness of the stack [N/m]
+
+  cedrat.c = 0.1*sqrt(1*cedrat.k); % [N/(m/s)]
+  cedrat.ca = 0.1*sqrt(1*cedrat.ka); % [N/(m/s)]
+
+  cedrat.L = 80; % Total Width of the Actuator[mm]
+  cedrat.H = 45; % Total Height of the Actuator [mm]
+  cedrat.L2 = sqrt((cedrat.L/2)^2 + (cedrat.H/2)^2); % Length of the elipsoidal sections [mm]
+  cedrat.alpha = 180/pi*atan2(cedrat.L/2, cedrat.H/2); % [deg]
+
+  %% Save
+  save('./mat/stages.mat', 'cedrat', '-append');
+end