Gu Jasper / Motor_200Nm_V0

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Dependencies:   mbed-dev-f303 FastPWM3

Files at this revision

API Documentation at this revision

Revision 54:b8c3cfff4841, committed 2019-08-01

Comitter:
Rushu
Date:
Thu Aug 01 09:48:38 2019 +0000
Parent:
53:4dd59f0cc2eb
Child:
55:a6a9a8a68f2d
Commit message:
velocity control

Changed in this revision

CAN/CAN_com.cpp Show annotated file Show diff for this revision Revisions of this file
Config/motor_config.h Show annotated file Show diff for this revision Revisions of this file 
--- a/CAN/CAN_com.cpp	Wed May 08 05:56:09 2019 +0000
+++ b/CAN/CAN_com.cpp	Thu Aug 01 09:48:38 2019 +0000
@@ -5,8 +5,8 @@
  #define P_MAX 12.5f
  //#define V_MIN -45.0f
  //#define V_MAX 45.0f
-  #define V_MIN -314.0f
- #define V_MAX 314.0f
+  #define V_MIN -157.0f
+ #define V_MAX 157.0f
  #define KP_MIN 0.0f
 // #define KP_MAX 500.0f
   #define KP_MAX 0.05f

--- a/Config/motor_config.h	Wed May 08 05:56:09 2019 +0000
+++ b/Config/motor_config.h	Thu Aug 01 09:48:38 2019 +0000
@@ -1,13 +1,16 @@
 #ifndef MOTOR_CONFIG_H
 #define MOTOR_CONFIG_H
 
-#define R_PHASE 0.13f           //Ohms
+//#define R_PHASE 0.13f           //Ohms
+#define R_PHASE 0.27f           //Ohms
 //#define R_PHASE 0.137f           //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 1.0f                 //Gear ratio
+//#define NPP 21                  //Number of pole pairs
+#define NPP 5                  //Number of pole pairs
+//#define GR 1.0f                 //Gear ratio
+#define GR 100.0f                 //Gear ratio
 #define KT_OUT 0.45f            //KT*GR
 #define WB 0.0025f              //Flux linkage, Webers.  
 #define R_TH 1.25f              //Kelvin per watt