From 0bc68572905037dac3e8c16bce7c1cabd2c7fa90 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Wed, 12 Feb 2025 14:10:49 +0100 Subject: [PATCH] Add sample initialization --- matlab/nass_model.slx | Bin 213268 -> 218848 bytes matlab/src/initializeSample.m | 16 +++++++++------- simscape-nass.org | 29 +++++++++++++++++------------ 3 files changed, 26 insertions(+), 19 deletions(-) diff --git a/matlab/nass_model.slx b/matlab/nass_model.slx index 1a3ec5b28bff4d6628109430fe45c734f53828b9..f141667f621c33025b3ec0fc6a297b5c036fb753 100644 GIT binary patch delta 39058 zcmZ5{V{o8d&}Hmo;$&jmwr$&XCdMRrV%wP5oY=|4#>BR5Yvs_&2P zs;<6$x|0JDx2q9r?+74ip|x*Dl7wMtAUK$qS(Co-Fo3Sbw%{W4+y;#HP*eVn` z!e0#5A6Gx)i%UWn@QbnduYy+hN_Dq~r0uS8vUG@RulkKX%5E;+Z?A)iR-Sw5dK-pP zAa|D4FCws##uMZ?;LsznVpOMYGNfK3vJ-g39?8AFjb`W#v8k|q*h!Q~7C$C;v({FE zaAk1S@ubg|SX;{}wyYerEEaH-_6pU&@Po zq8QQt8#N3_wX(k3s(A%dk_CrA2LSCf_2s(W`r%yokH zGC=9@c>UpLg8C?G44!uwGdi%zP9=zQFv~gzu()YboeWr>I-oC5MUd=A=l-fJ_tJjQ 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(configurable in mass) +** TODO [#B] Add payload configurable subsystem +SCHEDULED: <2025-02-12 Wed> + ** TODO [#B] Discuss the necessity of estimated Rz? One big advantage of doing the control in the cartesian plane, is that we don't need the estimation of nano-hexapod Rz, therefore we don't need the encoders anymore! @@ -364,7 +367,7 @@ initializeRy(); initializeRz(); initializeMicroHexapod(); initializeSimplifiedNanoHexapod(); -% initializeSample('type', '0'); +initializeSample('type', 'cylindrical'); initializeSimscapeConfiguration('gravity', false); initializeDisturbances('enable', false); @@ -1943,28 +1946,30 @@ function [nano_hexapod] = initializeSimplifiedNanoHexapod(args) end #+end_src -*** TODO [#A] =initializeSample=: Sample +*** =initializeSample=: Sample #+begin_src matlab :tangle matlab/src/initializeSample.m :comments none :mkdirp yes :eval no function [sample] = initializeSample(args) arguments + args.type char {mustBeMember(args.type,{'none', 'cylindrical'})} = 'none' args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3 % Height [m] - args.R (1,1) double {mustBeNumeric, mustBePositive} = 350e-3 % Radius [m] + args.R (1,1) double {mustBeNumeric, mustBePositive} = 110e-3 % Radius [m] args.m (1,1) double {mustBeNumeric, mustBePositive} = 1 % Mass [kg] end sample = struct(); switch args.type - case '0' + case 'none' sample.type = 0; - case '1' + sample.m = 0; + case 'cylindrical' sample.type = 1; - case '2' - sample.type = 2; - case '3' - sample.type = 3; + + sample.H = args.H; + sample.R = args.R; + sample.m = args.m; end if exist('./mat', 'dir')