catchrobo2022 / Mbed 2 deprecated CatchroboJointController

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Dependencies:   mbed FastPWM3

Diff: Config/motor_config.h

Revision:
47:e1196a851f76
Parent:
46:2d4b1dafcfe3
Child:
48:74a40481740c
--- a/Config/motor_config.h	Thu Jul 12 02:50:34 2018 +0000
+++ b/Config/motor_config.h	Wed Dec 05 04:07:46 2018 +0000
@@ -1,12 +1,12 @@
 #ifndef MOTOR_CONFIG_H
 #define MOTOR_CONFIG_H
 
-#define R_PHASE 0.13f          //Ohms
-#define L_D 0.00003f            //Henries
-#define L_Q 0.00003f            //Henries
-#define KT .075f                 //N-m per peak phase amp, = WB*NPP*3/2
-#define NPP 20                  //Number of pole pairs
-#define GR 6.0f                 //Gear ratio
+#define R_PHASE 0.02f          //Ohms
+#define L_D 0.00002f            //Henries
+#define L_Q 0.00002f            //Henries
+#define KT .08f                 //N-m per peak phase amp, = WB*NPP*3/2
+#define NPP 21                  //Number of pole pairs
+#define GR 1.0f                 //Gear ratio
 #define KT_OUT 0.45f            //KT*GR
 #define WB 0.0024f               //Flux linkage, Webers.