catchrobo2022 / Mbed 2 deprecated CatchroboJointController

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Dependencies:   mbed FastPWM3

Config/motor_config.h

Committer:
benkatz
Date:
2018-06-27
Revision:
45:26801179208e
Parent:
41:304ac2affb23
Child:
46:2d4b1dafcfe3

File content as of revision 45:26801179208e:

#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 21                  //Number of pole pairs
#define GR 6.0f                 //Gear ratio
#define KT_OUT 0.45f            //KT*GR
#define WB 0.0024f               //Flux linkage, Webers.  



#endif