catchrobo2022 / Mbed 2 deprecated CatchroboJointController

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed FastPWM3

Files at this revision

API Documentation at this revision

Revision 56:6223eec237d3, committed 2022-07-17

Comitter:
kageyuta
Date:
Sun Jul 17 04:44:57 2022 +0000
Parent:
55:1c704b515383
Commit message:
update

Changed in this revision

Config/motor_config.h Show annotated file Show diff for this revision Revisions of this file 
diff -r 1c704b515383 -r 6223eec237d3 Config/motor_config.h
--- a/Config/motor_config.h	Fri Feb 05 10:49:02 2021 +0000
+++ b/Config/motor_config.h	Sun Jul 17 04:44:57 2022 +0000
@@ -6,8 +6,8 @@
 #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 GR 1.0f                 //Gear ratio
+#define KT_OUT 0.08f            //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