tdehaeze/test-bench-nano-hexapod
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This commit is contained in:
Thomas Dehaeze
2021-08-11 00:28:02 +02:00
parent 1c2d1f3a91
commit 3f2d54dc7f
158 changed files with 86846 additions and 6843 deletions
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6
matlab/src/generateXYZTrajectory.m
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@@ -12,9 +12,9 @@ function [ref] = generateXYZTrajectory(args)
arguments
args.points double {mustBeNumeric} = zeros(2, 3) % [m]
args.ti (1,1) double {mustBeNumeric, mustBePositive} = 1 % Time to go to first point and after last point [s]
args.tw (1,1) double {mustBeNumeric, mustBePositive} = 0.5 % Time wait between each point [s]
args.tm (1,1) double {mustBeNumeric, mustBePositive} = 1 % Motion time between points [s]
args.ti (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % Time to go to first point and after last point [s]
args.tw (1,1) double {mustBeNumeric, mustBeNonnegative} = 0.5 % Time wait between each point [s]
args.tm (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % Motion time between points [s]
args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % Sampling Time [s]
end

12
matlab/src/generateYZScanTrajectory.m
View File

@@ -10,17 +10,17 @@ function [ref] = generateYZScanTrajectory(args)
% - ref - Reference Signal
arguments
args.y_tot (1,1) double {mustBeNumeric} = 10e-6 % [m]
args.z_tot (1,1) double {mustBeNumeric} = 10e-6 % [m]
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, mustBePositive} = 1 % [s]
args.tw (1,1) double {mustBeNumeric, mustBePositive} = 1 % [s]
args.ty (1,1) double {mustBeNumeric, mustBePositive} = 1 % [s]
args.tz (1,1) double {mustBeNumeric, mustBePositive} = 1 % [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;