test-bench-nano-hexapod/matlab/src/generateYZScanTrajectory.m

function [ref] = generateYZScanTrajectory(args)
% generateYZScanTrajectory -
%
% Syntax: [ref] = generateYZScanTrajectory(args)
%
% Inputs:
%    - args
%
% Outputs:
%    - ref - Reference Signal

arguments
    args.y_tot (1,1) double {mustBeNumeric, mustBePositive} = 10e-6 % [m]
    args.z_tot (1,1) double {mustBeNumeric, mustBePositive} = 10e-6 % [m]

    args.n     (1,1) double {mustBeInteger, mustBePositive} = 10 % [-]

    args.Ts    (1,1) double {mustBeNumeric, mustBePositive} = 1e-4 % [s]

    args.ti    (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % [s]
    args.tw    (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % [s]
    args.ty    (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % [s]
    args.tz    (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % [s]
end

time_i = 0:args.Ts:args.ti;
time_w = 0:args.Ts:args.tw;
time_y = 0:args.Ts:args.ty;
time_z = 0:args.Ts:args.tz;

% Go to initial position
y = (time_i/args.ti)*(args.y_tot/2);

% Wait
y = [y, y(end)*ones(size(time_w))];

% Scans
for i = 1:args.n
    if mod(i,2) == 0
        y = [y, -(args.y_tot/2) + (time_y/args.ty)*args.y_tot];
    else
        y = [y,  (args.y_tot/2) - (time_y/args.ty)*args.y_tot];
    end

    if i < args.n
        y = [y, y(end)*ones(size(time_z))];
    end
end

% Wait a litle bit
y = [y, y(end)*ones(size(time_w))];

% End motion
y = [y, y(end) - y(end)*time_i/args.ti];

% Go to initial position
z = (time_i/args.ti)*(args.z_tot/2);

% Wait
z = [z, z(end)*ones(size(time_w))];

% Scans
for i = 1:args.n
    z = [z, z(end)*ones(size(time_y))];

    if i < args.n
        z = [z, z(end) - (time_z/args.tz)*args.z_tot/(args.n-1)];
    end
end

% Wait a litle bit
z = [z, z(end)*ones(size(time_w))];

% End motion
z = [z, z(end) - z(end)*time_i/args.ti];

t = 0:args.Ts:args.Ts*(length(y) - 1);

ref = zeros(length(y), 7);

ref(:, 1) = t;
ref(:, 3) = y;
ref(:, 4) = z;