7575aee987
Lot's of new things: - try to use less .mat files - computation of setpoint and error in the cartesian frame fixed to the granite - change of base to have the errors w.r.t. the NASS base - add script to plot setpoint, position and error
59 lines
973 B
Matlab
59 lines
973 B
Matlab
%%
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clear; close all; clc;
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%% Initialize simulation configuration
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opts_sim = struct(...
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'Tsim', 5 ...
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);
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initializeSimConf(opts_sim);
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%% Initialize Inputs
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opts_inputs = struct(...
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'Dw', true, ...
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'ry', false, ...
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'Rz', true ...
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);
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initializeInputs(opts_inputs);
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%% Initialize Solids
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initializeSolids();
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%% Initialize Ground
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initializeGround();
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%% Initialize Granite
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initializeGranite();
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%% Initialize Translation stage
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initializeTy();
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%% Initialize Tilt Stage
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initializeRy();
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%% Initialize Spindle
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initializeRz();
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%% Initialize Hexapod Symétrie
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initializeMicroHexapod();
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%% Initialize Center of Gravity compensation
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initializeAxisc();
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%% Initialize NASS
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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%% Initialize the Mirror
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initializeMirror(struct('shape', 'spherical'));
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%% Initialize Sample
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initializeSample(struct('mass', 20));
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%% Controllers
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K = tf(zeros(6));
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K_iff = tf(zeros(6));
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save('./mat/controllers.mat', 'K', 'K_iff');
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