Update analysis

matlab/run_test.m

@@ -1,25 +0,0 @@
-%%
-tg = slrt;
-
-f = SimulinkRealTime.openFTP(tg);
-mget(f, 'data/data.dat');
-close(f);
-
-%% Convert the Data
-data = SimulinkRealTime.utils.getFileScopeData('data/data.dat').data;
-
-V = data(:, 1);
-d = data(:, 2)*1000e-6/3.333;
-t = data(:, end);
-
-%% Save
-save('mat/stroke_apa_1stacks_2.mat', 't', 'V', 'd');
-
-%%
-d = d - mean(d(t > 1.9 & t < 2.0));
-
-figure;
-plot(t, d)
-
-figure;
-plot(V, d)

matlab/setup.m

@@ -1,24 +0,0 @@
-Fs = 10e3; % [Hz]
-Ts = 1/Fs; % [s]
-
-%%
-freq_LPF = 0.5; % [Hz]
-s = tf('s');
-G_lpf = (1)/(1 + s/2/pi/freq_LPF);
-Gz = c2d(G_lpf, Ts, 'tustin');
-
-%%
-t = 0:Ts:12;
-V = -1*ones(size(t));
-
-t0 = 2; t1 = t0 + 1;
-V(t < t0-1) = 0;
-V(t > t0 & t < t0 + pi) = 3.25 + 4.25*cos(t(t > t0 & t < t0 + pi) - t0 + pi);
-V(t > t0 + pi & t < t1 + pi) = 7.5;
-V(t > t1 + pi & t < t1 + 2*pi) = 3.25 + 4.25*cos(t(t > t1 + pi & t < t1 + 2*pi) - t1 + pi);
-V(t > t1 + 2*pi + 2) = 0;
-
-w0 = 2*pi*10; xi = 1;
-V = lsim(1/(1 + 2*xi*s/w0 + s^2/w0^2), V, t);
-
-Vin = [t', V];

matlab/src/initializeAPA.m

@@ -16,9 +16,9 @@ arguments
     args.Gs  (1,1) double {mustBeNumeric} = 0
 
     % For 2DoF
-    args.k   (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.35e6
-    args.ke  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1.5e6
-    args.ka  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*43e6
+    args.k   (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.38e6
+    args.ke  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1.75e6
+    args.ka  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*3e7
 
     args.c   (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*3e1
     args.ce  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*2e1
@@ -48,7 +48,7 @@ end
 if args.Ga == 0
     switch args.type
       case '2dof'
-        actuator.Ga = -46.4;
+        actuator.Ga = -30.0;
       case 'flexible frame'
         actuator.Ga = 1; % TODO
       case 'flexible'