catchrobo2022 / Mbed 2 deprecated CatchroboJointController

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Dependencies:   mbed FastPWM3

Config/motor_config.h

Committer:
benkatz
Date:
2017-11-08
Revision:
34:51647c6c500d
Parent:
26:2b865c00d7e9
Child:
37:c0f352d6e8e3

File content as of revision 34:51647c6c500d:

#ifndef MOTOR_CONFIG_H
#define MOTOR_CONFIG_H

#define R_PHASE 0.105f          //Ohms
#define L_D 0.00003f            //Henries
#define L_Q 0.00003f            //Henries
#define KT .075f                 //N-m per peak phase amp (= RMS amps/1.5)
#define NPP 21                  //Number of pole pairs
#define GR 6.0f                 //Gear ratio
#define KT_OUT 0.45f            //Effective output torque constatnt

#define WB KT/NPP               //Webers.  



#endif