%% Script Description
% Make the same identification as Marc did
% Should comment out the nano-hexapod and sample before
% runing this script.

%%
clear; close all; clc;

%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;

%% Name of the Simulink File
mdl = 'simscape_id_micro_station';

%% Micro-Hexapod
% Input/Output definition
io(1) = linio([mdl, '/Micro-Station/Fm_ext'],1,'openinput');
io(2) = linio([mdl, '/Micro-Station/Fg_ext'],1,'openinput');
io(3) = linio([mdl, '/Micro-Station/Dm_inertial'],1,'output');
io(4) = linio([mdl, '/Micro-Station/Ty_inertial'],1,'output');
io(5) = linio([mdl, '/Micro-Station/Ry_inertial'],1,'output');
io(6) = linio([mdl, '/Micro-Station/Dg_inertial'],1,'output');

% Run the linearization
G_ms = linearize(mdl, io, 0);

% Input/Output names
G_ms.InputName  = {'Fmx', 'Fmy', 'Fmz',...
                   'Fgx', 'Fgy', 'Fgz'};
G_ms.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
                   'Tyx', 'Tyy', 'Tyz', ...
                   'Ryx', 'Ryy', 'Ryz', ...
                   'Dgx', 'Dgy', 'Dgz'};

%% Save the obtained transfer functions
save('./mat/id_micro_station.mat', 'G_ms');