Add a function to output the state of the platform

src/describeStewartPlatform.m

@@ -0,0 +1,83 @@
+function [] = describeStewartPlatform(stewart)
+% describeStewartPlatform - Display some text describing the current defined Stewart Platform
+%
+% Syntax: [] = describeStewartPlatform(args)
+%
+% Inputs:
+%    - stewart
+%
+% Outputs:
+
+arguments
+    stewart
+end
+
+fprintf('GEOMETRY:\n')
+fprintf('- The height between the fixed based and the top platform is %.3g [mm].\n', 1e3*stewart.geometry.H)
+
+if stewart.platform_M.MO_B(3) > 0
+  fprintf('- Frame {A} is located %.3g [mm] above the top platform.\n',  1e3*stewart.platform_M.MO_B(3))
+else
+  fprintf('- Frame {A} is located %.3g [mm] below the top platform.\n', - 1e3*stewart.platform_M.MO_B(3))
+end
+
+fprintf('- The initial length of the struts are:\n')
+fprintf('\t %.3g, %.3g, %.3g, %.3g, %.3g, %.3g [mm]\n', 1e3*stewart.geometry.l)
+fprintf('\n')
+
+fprintf('ACTUATORS:\n')
+if stewart.actuators.type == 1
+    fprintf('- The actuators are classical.\n')
+    fprintf('- The Stiffness and Damping of each actuators is:\n')
+    fprintf('\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.K(1), stewart.actuators.C(1))
+elseif stewart.actuators.type == 2
+    fprintf('- The actuators are mechanicaly amplified.\n')
+    fprintf('- The vertical stiffness and damping contribution of the piezoelectric stack is:\n')
+    fprintf('\t ka = %.0e [N/m] \t ca = %.0e [N/(m/s)]\n', stewart.actuators.Ka(1), stewart.actuators.Ca(1))
+    fprintf('- Vertical stiffness when the piezoelectric stack is removed is:\n')
+    fprintf('\t kr = %.0e [N/m] \t cr = %.0e [N/(m/s)]\n', stewart.actuators.Kr(1), stewart.actuators.Cr(1))
+end
+fprintf('\n')
+
+fprintf('JOINTS:\n')
+
+switch stewart.joints_F.type
+  case 1
+    fprintf('- The joints on the fixed based are universal joints\n')
+  case 2
+    fprintf('- The joints on the fixed based are spherical joints\n')
+  case 3
+    fprintf('- The joints on the fixed based are perfect universal joints\n')
+  case 4
+    fprintf('- The joints on the fixed based are perfect spherical joints\n')
+end
+
+switch stewart.joints_M.type
+  case 1
+    fprintf('- The joints on the mobile based are universal joints\n')
+  case 2
+    fprintf('- The joints on the mobile based are spherical joints\n')
+  case 3
+    fprintf('- The joints on the mobile based are perfect universal joints\n')
+  case 4
+    fprintf('- The joints on the mobile based are perfect spherical joints\n')
+end
+
+fprintf('- The position of the joints on the fixed based with respect to {F} are (in [mm]):\n')
+fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_F.Fa)
+
+fprintf('- The position of the joints on the mobile based with respect to {M} are (in [mm]):\n')
+fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_M.Mb)
+fprintf('\n')
+
+fprintf('KINEMATICS:\n')
+
+if isfield(stewart.kinematics, 'K')
+  fprintf('- The Stiffness matrix K is (in [N/m]):\n')
+  fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.K)
+end
+
+if isfield(stewart.kinematics, 'C')
+  fprintf('- The Damping matrix C is (in [m/N]):\n')
+  fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.C)
+end

src/initializeFramesPositions.m

@@ -1,7 +1,7 @@
 function [stewart] = initializeFramesPositions(stewart, args)
 % initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M}
 %
-% Syntax: [stewart] = initializeFramesPositions(args)
+% Syntax: [stewart] = initializeFramesPositions(stewart, args)
 %
 % Inputs:
 %    - args - Can have the following fields: