% Translation Stage
%   :PROPERTIES:
%   :header-args:matlab+: :tangle ../src/initializeTy.m
%   :header-args:matlab+: :comments org :mkdirp yes
%   :header-args:matlab+: :eval no :results none
%   :END:
%   <<sec:initializeTy>>

% This Matlab function is accessible [[file:../src/initializeTy.m][here]].


function [ty] = initializeTy(opts_param)
    %% Default values for opts
    opts = struct('rigid', false);

    %% Populate opts with input parameters
    if exist('opts_param','var')
      for opt = fieldnames(opts_param)'
        opts.(opt{1}) = opts_param.(opt{1});
      end
    end

    %%
    ty = struct();

    %% Y-Translation - Static Properties
    % Ty Granite frame
    ty.granite_frame.density = 7800; % [kg/m3]
    ty.granite_frame.color   = [0.753 1 0.753];
    ty.granite_frame.STEP    = './STEPS/Ty/Ty_Granite_Frame.STEP';
    % Guide Translation Ty
    ty.guide.density         = 7800; % [kg/m3]
    ty.guide.color           = [0.792 0.820 0.933];
    ty.guide.STEP            = './STEPS/ty/Ty_Guide.STEP';
    % Ty - Guide_Translation12
    ty.guide12.density       = 7800; % [kg/m3]
    ty.guide12.color         = [0.792 0.820 0.933];
    ty.guide12.STEP          = './STEPS/Ty/Ty_Guide_12.STEP';
    % Ty - Guide_Translation11
    ty.guide11.density       = 7800; % [kg/m3]
    ty.guide11.color         = [0.792 0.820 0.933];
    ty.guide11.STEP          = './STEPS/ty/Ty_Guide_11.STEP';
    % Ty - Guide_Translation22
    ty.guide22.density       = 7800; % [kg/m3]
    ty.guide22.color         = [0.792 0.820 0.933];
    ty.guide22.STEP          = './STEPS/ty/Ty_Guide_22.STEP';
    % Ty - Guide_Translation21
    ty.guide21.density       = 7800; % [kg/m3]
    ty.guide21.color         = [0.792 0.820 0.933];
    ty.guide21.STEP          = './STEPS/Ty/Ty_Guide_21.STEP';
    % Ty - Plateau translation
    ty.frame.density         = 7800; % [kg/m3]
    ty.frame.color           = [0.792 0.820 0.933];
    ty.frame.STEP            = './STEPS/ty/Ty_Stage.STEP';
    % Ty Stator Part
    ty.stator.density        = 5400; % [kg/m3]
    ty.stator.color          = [0.792 0.820 0.933];
    ty.stator.STEP           = './STEPS/ty/Ty_Motor_Stator.STEP';
    % Ty Rotor Part
    ty.rotor.density         = 5400; % [kg/m3]
    ty.rotor.color           = [0.792 0.820 0.933];
    ty.rotor.STEP            = './STEPS/ty/Ty_Motor_Rotor.STEP';

    ty.m = 1000; % TODO [kg]

    %% Y-Translation - Dynamicals Properties
    if opts.rigid
      ty.k.ax  = 1e12; % Axial Stiffness for each of the 4 guidance (y) [N/m]
      ty.k.rad = 1e12; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
    else
      ty.k.ax  = 5e7; % Axial Stiffness for each of the 4 guidance (y) [N/m]
      ty.k.rad = 5e7; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
    end

    ty.c.ax  = 0.1*sqrt(ty.k.ax*ty.m);
    ty.c.rad = 0.1*sqrt(ty.k.rad*ty.m);

    %% Save
    save('./mat/stages.mat', 'ty', '-append');
end