% Center of gravity compensation
%   :PROPERTIES:
%   :header-args:matlab+: :tangle src/initializeAxisc.m
%   :header-args:matlab+: :comments org :mkdirp yes
%   :header-args:matlab+: :eval no :results none
%   :END:
%   <<sec:initializeAxisc>>

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


function [axisc] = initializeAxisc()
    %%
    axisc = struct();

    %% Axis Compensator - Static Properties
    % Structure
    axisc.structure.density = 3400; % [kg/m3]
    axisc.structure.color   = [0.792 0.820 0.933];
    axisc.structure.STEP    = './STEPS/axisc/axisc_structure.STEP';
    % Wheel
    axisc.wheel.density     = 2700; % [kg/m3]
    axisc.wheel.color       = [0.753 0.753 0.753];
    axisc.wheel.STEP        = './STEPS/axisc/axisc_wheel.STEP';
    % Mass
    axisc.mass.density      = 7800; % [kg/m3]
    axisc.mass.color        = [0.792 0.820 0.933];
    axisc.mass.STEP         = './STEPS/axisc/axisc_mass.STEP';
    % Gear
    axisc.gear.density      = 7800; % [kg/m3]
    axisc.gear.color        = [0.792 0.820 0.933];
    axisc.gear.STEP         = './STEPS/axisc/axisc_gear.STEP';

    axisc.m      = 40; % TODO [kg]

    %% Axis Compensator - Dynamical Properties
    axisc.k.ax   = 1; % TODO [N*m/deg)]
    axisc.c.ax   = (1/1)*sqrt(axisc.k.ax/axisc.m);

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