% try a sequence of movements

figure()

% laser position
a0 = acos(36/(75/2));  
laser = [-75/2*sin(a0), 75/2*cos(a0)];

% initial position
t = 0;
a = 90;

clf();
draw_wafer(t, a, laser);
  

% translation (negative direction 21.00 mm)
t = linspace(0, -75*sin(a0), 30);
for i=1:numel(t)
    clf();
    draw_wafer(t(i), a, laser);
    title('Translation 21.00 mm negative direction')
    pause(0.02);
end

% rotation (180 degrees CCW)
phi = 90 - linspace(0, pi, 100) / pi * 180;
for i=1:numel(phi)
    clf();
    draw_wafer(t(end), phi(i), laser);
    title('Rotation 180 degrees CCW')
    pause(0.02);
end

% translation (21.00 mm, positive direction)
t = -75*sin(a0) + linspace(0, 75*sin(a0), 30);
for i=1:numel(t)
    clf();
    draw_wafer(t(i), phi(end), laser);
    title('Translation 21.00 mm positive direction')
    pause(0.02);
end

% translation (21.00 mm, negative direction)
t = -linspace(0, 75*sin(a0), 30);
for i=1:numel(t)
    clf();
    draw_wafer(t(i), phi(end), laser);
    title('Translation 21.00 mm negative direction')
    pause(0.02);
end

% rotation (180 degrees CCW)
phi = -90 - linspace(0, pi, 100) / pi * 180;
for i=1:numel(phi)
    clf();
    draw_wafer(t(end), phi(i), laser);
    title('Rotation 180 degrees CCW')
    pause(0.02);
end

% translation (21.00 mm positive direction)
t = -75*sin(a0) + linspace(0, 75*sin(a0), 30);
for i=1:numel(t)
    clf();
    draw_wafer(t(i), phi(end), laser);
    title('Translation 21.00 mm positive direction')
    pause(0.02);
end