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DEFAULT.m
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DEFAULT.m
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% This script sets default values for the SLS 3-D Printer
% All forward paths are set to 1
% All feedback paths are set to 0
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Values you should over-write in Control.m %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% ================
% CONTROLLER GAINS
% ================
% PID Controller
PID0 = [1 0 0];
PID1 = [1 0 0];
% Controller Feedback Gain
FB0 = 0;
FB1 = 0;
% Assign the Set-Point Trajectory & Time Vector
TRAJECTORY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Values you should over-write in System.m %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% ==========================
% Choose Motors
% ==========================
AMAX22_5W_SB; % Default Maxon motor
Q0 = MotorParam;
Q1 = MotorParam;
% ==========================
% Motor Parameters
% ==========================
NomI0 = 1; % Max average current
StallI0 = 1; % Max peak current
NomI1 = 1; % Max average current
StallI1 = 1; % Max peak current
% ==========================
% Q0 - Rotation about y-axis
% ==========================
% Amplifier Dynamics
Amp0n = [1]; % Numerator
Amp0d = [1]; % Denominator
AmpSat0 = Big;
% Electrical Motor Dynamics
Elec0n = [1]; % Numerator
Elec0d = [1]; % Denominator
% Torque Const & Back EMF
TConst0 = 1;
BackEMF0 = 0;
% Mechanical Motor Dynamics
Mech0n = [1]; % Numerator
Mech0d = [1]; % Denominator
JntSat0 = Big;
% Sensor Dynamics
Sens0 = 0;
SensSat0 = Big;
% Static Friction
StFric0 = 0;
% ==========================
% Q1 - Rotation about x-axis
% ==========================
% Amplifier Dynamics
Amp1n = [1]; % Numerator
Amp1d = [1]; % Denominator
AmpSat1 = Big;
% Electrical Motor Dynamics
Elec1n = [1]; % Numerator
Elec1d = [1]; % Denominator
% Torque Const & Back EMF
TConst1 = 1;
BackEMF1 = 0;
% Mechanical Motor Dynamics
Mech1n = [1]; % Numerator
Mech1d = [1]; % Denominator
JntSat1 = Big;
% Sensor Dynamics
Sens1 = 0;
SensSat1 = Big;
% Static Friction
StFric1 = 0;