Martin Gurtner / HKC_MiniCheetah

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Diff: Config/motor_config.h

Revision:
58:312f8ec71d74
Parent:
55:c4c9fec8539c
diff -r b85d050f9ae7 -r 312f8ec71d74 Config/motor_config.h
--- a/Config/motor_config.h	Sat Nov 28 13:13:43 2020 +0000
+++ b/Config/motor_config.h	Tue Dec 01 06:29:10 2020 +0000
@@ -6,8 +6,8 @@
 #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 6.0f                 //Gear ratio
-#define KT_OUT 0.45f            //KT*GR
+#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