Martin Gurtner / HKC_MiniCheetah

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.

Config/motor_config.h

Committer:
MartinGurtner
Date:
2020-12-01
Revision:
58:312f8ec71d74
Parent:
55:c4c9fec8539c

File content as of revision 58:312f8ec71d74:

#ifndef MOTOR_CONFIG_H
#define MOTOR_CONFIG_H

#define R_PHASE 0.13f           //Ohms
#define L_D 0.00008f            //Henries
#define L_Q 0.00008f            //Henries
#define KT .075f                 //N-m per peak phase amp, = WB*NPP*3/2
#define NPP 21                  //Number of pole pairs
#define GR 1.0f                 //Gear ratio
#define KT_OUT .075f            //KT*GR
#define WB 0.00287f              //Flux linkage, Webers.  
#define R_TH 1.25f              //Kelvin per watt
#define INV_M_TH 0.02825f       //Kelvin per joule
#define T_AMBIENT 25.0f        // ambient temperature during temp calibration



#endif