zebra / Mbed 2 deprecated ZebraJointController

zebra joint controller firmware (originally from MIT HKC motor controller by benkatz)

Dependencies:   mbed FastPWM3

Embed: (wiki syntax)

« Back to documentation index

Show/hide line numbers motor_config.h Source File

motor_config.h

00001 #ifndef MOTOR_CONFIG_H
00002 #define MOTOR_CONFIG_H
00003 
00004 #define R_PHASE 0.13f           //Ohms
00005 #define L_D 0.00002f            //Henries
00006 #define L_Q 0.00002f            //Henries
00007 #define KT .08f                 //N-m per peak phase amp, = WB*NPP*3/2
00008 #define NPP 21                  //Number of pole pairs
00009 #define GR 6.0f                 //Gear ratio
00010 #define KT_OUT 0.45f            //KT*GR
00011 #define WB 0.0025f              //Flux linkage, Webers.  
00012 #define R_TH 1.25f              //Kelvin per watt
00013 #define INV_M_TH 0.03125f       //Kelvin per joule
00014 
00015 
00016 
00017 #endif
Generated on Sun Jul 17 2022 04:31:50 by  doxygen 1.7.2