Add "init" type to nano-hexapod

correct init type of sample
add file to initialize the stages under gravity

org/simscape_subsystems.org

@@ -1229,7 +1229,7 @@ The =mirror= structure is saved.
 :END:
 #+begin_src matlab
   arguments
-      args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+      args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'init'})} = 'flexible'
       % initializeFramesPositions
       args.H    (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
       args.MO_B (1,1) double {mustBeNumeric} = 175e-3
@@ -1303,6 +1303,8 @@ The =mirror= structure is saved.
       nano_hexapod.type = 1;
     case 'flexible'
       nano_hexapod.type = 2;
+    case 'init'
+      nano_hexapod.type = 4;
   end
 #+end_src
 

org/stage_initialization.org

@@ -0,0 +1,151 @@
+#+TITLE: Evaluating the Plant Uncertainty in various experimental conditions
+:DRAWER:
+#+STARTUP: overview
+
+#+LANGUAGE: en
+#+EMAIL: dehaeze.thomas@gmail.com
+#+AUTHOR: Dehaeze Thomas
+
+#+HTML_LINK_HOME: ./index.html
+#+HTML_LINK_UP: ./index.html
+
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
+#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
+#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
+#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
+
+#+HTML_MATHJAX: align: center tagside: right font: TeX
+
+#+PROPERTY: header-args:matlab  :session *MATLAB*
+#+PROPERTY: header-args:matlab+ :comments org
+#+PROPERTY: header-args:matlab+ :results none
+#+PROPERTY: header-args:matlab+ :exports both
+#+PROPERTY: header-args:matlab+ :eval no-export
+#+PROPERTY: header-args:matlab+ :output-dir figs
+#+PROPERTY: header-args:matlab+ :tangle no
+#+PROPERTY: header-args:matlab+ :mkdirp yes
+
+#+PROPERTY: header-args:shell  :eval no-export
+
+#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/org/}{config.tex}")
+#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
+#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
+#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
+#+PROPERTY: header-args:latex+ :results raw replace :buffer no
+#+PROPERTY: header-args:latex+ :eval no-export
+#+PROPERTY: header-args:latex+ :exports both
+#+PROPERTY: header-args:latex+ :mkdirp yes
+#+PROPERTY: header-args:latex+ :output-dir figs
+:END:
+
+* Matlab Init                                                :noexport:ignore:
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+<<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
+<<matlab-init>>
+#+end_src
+
+#+begin_src matlab :tangle no
+  simulinkproject('../');
+#+end_src
+
+#+begin_src matlab
+  open('nass_model.slx')
+#+end_src
+
+* Initialization
+#+begin_src matlab
+  initializeGround();
+  initializeGranite('type', 'init');
+  initializeTy('type', 'init');
+  initializeRy('type', 'init');
+  initializeRz('type', 'init');
+  initializeMicroHexapod('type', 'init');
+  initializeAxisc();
+  initializeMirror();
+  initializeNanoHexapod('type', 'init');
+  initializeSample('type', 'init');
+#+end_src
+
+#+begin_src matlab
+  initializeReferences();
+  initializeDisturbances('enable', false);
+  initializeController();
+#+end_src
+
+#+begin_src matlab
+  initializeSimscapeConfiguration('gravity', true);
+  initializeLoggingConfiguration('log', 'all');
+#+end_src
+
+* Simulation
+#+begin_src matlab
+  load('mat/conf_simulink.mat');
+  set_param(conf_simulink, 'StopTime', '0.5');
+#+end_src
+
+#+begin_src matlab
+  sim('nass_model');
+#+end_src
+
+Verification that nothing is moving
+#+begin_src matlab :exports none
+  figure;
+  ax1 = subplot(2, 3, 1);
+  hold on;
+  plot(simout.Em.En.Time, simout.Em.En.Data(:, 1))
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Dx [m]');
+
+  ax2 = subplot(2, 3, 2);
+  hold on;
+  plot(simout.Em.En.Time, simout.Em.En.Data(:, 2))
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Dy [m]');
+
+  ax3 = subplot(2, 3, 3);
+  hold on;
+  plot(simout.Em.En.Time, simout.Em.En.Data(:, 3))
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Dz [m]');
+
+  ax4 = subplot(2, 3, 4);
+  hold on;
+  plot(simout.Em.En.Time, simout.Em.En.Data(:, 4))
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Rx [rad]');
+
+  ax5 = subplot(2, 3, 5);
+  hold on;
+  plot(simout.Em.En.Time, simout.Em.En.Data(:, 5))
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Ry [rad]');
+
+  ax6 = subplot(2, 3, 6);
+  hold on;
+  plot(simout.Em.En.Time, simout.Em.En.Data(:, 6))
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Rz [rad]');
+#+end_src
+
+Measured Force in each leg
+#+begin_src matlab
+  Fgm
+  Ftym
+  Fym
+  Fzm
+  Fhm
+  Fnm
+  Fsm
+#+end_src

src/initializeNanoHexapod.m

@@ -1,7 +1,7 @@
 function [nano_hexapod] = initializeNanoHexapod(args)
 
 arguments
-    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'init'})} = 'flexible'
     % initializeFramesPositions
     args.H    (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
     args.MO_B (1,1) double {mustBeNumeric} = 175e-3
@@ -61,6 +61,8 @@ switch args.type
     nano_hexapod.type = 1;
   case 'flexible'
     nano_hexapod.type = 2;
+  case 'init'
+    nano_hexapod.type = 4;
 end
 
 save('./mat/stages.mat', 'nano_hexapod', '-append');