catchrobo2022 / Mbed 2 deprecated CatchroboJointController

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Dependencies:   mbed FastPWM3

Config/motor_config.h

Committer:
benkatz
Date:
2019-08-08
Revision:
53:e85efce8c1eb
Parent:
48:74a40481740c
Child:
56:6223eec237d3

File content as of revision 53:e85efce8c1eb:

#ifndef MOTOR_CONFIG_H
#define MOTOR_CONFIG_H

#define R_PHASE 0.13f           //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 6.0f                 //Gear ratio
#define KT_OUT 0.45f            //KT*GR
#define WB 0.0025f              //Flux linkage, Webers.  
#define R_TH 1.25f              //Kelvin per watt
#define INV_M_TH 0.03125f       //Kelvin per joule



#endif