84 lines
1.8 KiB
Matlab
84 lines
1.8 KiB
Matlab
function [ref] = generateYZScanTrajectory(args)
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% generateYZScanTrajectory -
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%
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% Syntax: [ref] = generateYZScanTrajectory(args)
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%
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% Inputs:
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% - args
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%
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% Outputs:
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% - ref - Reference Signal
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arguments
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args.y_tot (1,1) double {mustBeNumeric, mustBePositive} = 10e-6 % [m]
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args.z_tot (1,1) double {mustBeNumeric, mustBePositive} = 10e-6 % [m]
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args.n (1,1) double {mustBeInteger, mustBePositive} = 10 % [-]
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args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-4 % [s]
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args.ti (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % [s]
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args.tw (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % [s]
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args.ty (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % [s]
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args.tz (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % [s]
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end
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time_i = 0:args.Ts:args.ti;
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time_w = 0:args.Ts:args.tw;
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time_y = 0:args.Ts:args.ty;
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time_z = 0:args.Ts:args.tz;
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% Go to initial position
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y = (time_i/args.ti)*(args.y_tot/2);
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% Wait
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y = [y, y(end)*ones(size(time_w))];
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% Scans
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for i = 1:args.n
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if mod(i,2) == 0
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y = [y, -(args.y_tot/2) + (time_y/args.ty)*args.y_tot];
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else
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y = [y, (args.y_tot/2) - (time_y/args.ty)*args.y_tot];
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end
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if i < args.n
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y = [y, y(end)*ones(size(time_z))];
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end
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end
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% Wait a litle bit
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y = [y, y(end)*ones(size(time_w))];
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% End motion
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y = [y, y(end) - y(end)*time_i/args.ti];
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% Go to initial position
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z = (time_i/args.ti)*(args.z_tot/2);
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% Wait
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z = [z, z(end)*ones(size(time_w))];
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% Scans
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for i = 1:args.n
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z = [z, z(end)*ones(size(time_y))];
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if i < args.n
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z = [z, z(end) - (time_z/args.tz)*args.z_tot/(args.n-1)];
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end
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end
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% Wait a litle bit
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z = [z, z(end)*ones(size(time_w))];
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% End motion
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z = [z, z(end) - z(end)*time_i/args.ti];
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t = 0:args.Ts:args.Ts*(length(y) - 1);
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ref = zeros(length(y), 7);
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ref(:, 1) = t;
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ref(:, 3) = y;
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ref(:, 4) = z;
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