29 lines
657 B
Matlab
29 lines
657 B
Matlab
%%
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clear; close all; clc;
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%%
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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', '-append');
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%% Light Sample
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initializeSample(struct('mass', 50));
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initializeNanoHexapod(struct('actuator', 'piezo'));
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%% Vertical Configuration
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initializeInputs();
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G_vert_init = identifyPlant();
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initializeInputs(struct('Rz', 90));
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G_vert_turn = identifyPlant();
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%% Tilted configuration
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initializeInputs(struct('Ry', 3));
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G_tilt_init = identifyPlant();
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initializeInputs(struct('Ry', 3, 'Rz', 90));
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G_tilt_turn = identifyPlant();
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%% Save
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save('./mat/id_plant_variation.mat', 'G_vert_init', 'G_vert_turn', 'G_tilt_init', 'G_tilt_turn')
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