Re-tuned micro-station model

matlab/src/initializeMicroHexapod.m

@@ -1,7 +1,7 @@
   function [micro_hexapod] = initializeMicroHexapod(args)
 
   arguments
-      args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis', 'init', 'compliance'})} = 'flexible'
+      args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
       % initializeFramesPositions
       args.H    (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
       args.MO_B (1,1) double {mustBeNumeric} = 270e-3
@@ -32,8 +32,6 @@
       % inverseKinematics
       args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
       args.ARB (3,3) double {mustBeNumeric} = eye(3)
-      % Force that stiffness of each joint should apply at t=0
-      args.Foffset      logical {mustBeNumericOrLogical} = false
   end
 
   stewart = initializeStewartPlatform();
@@ -84,13 +82,6 @@
 
   stewart = initializeInertialSensor(stewart, 'type', 'none');
 
-  if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init')
-    load('Foffset.mat', 'Fhm');
-    stewart.actuators.dLeq = -Fhm'./args.Ki;
-  else
-    stewart.actuators.dLeq = zeros(6,1);
-  end
-
   switch args.type
     case 'none'
       stewart.type = 0;
@@ -98,12 +89,6 @@
       stewart.type = 1;
     case 'flexible'
       stewart.type = 2;
-    case 'modal-analysis'
-      stewart.type = 3;
-    case 'init'
-      stewart.type = 4;
-    case 'compliance'
-      stewart.type = 5;
   end
 
 micro_hexapod = stewart;