Diff: Config/motor_config.h

Revision:

48:a74e401a6d84

Parent:

47:f4ecf3e0576a

--- a/Config/motor_config.h	Wed May 13 09:53:27 2020 +0000
+++ b/Config/motor_config.h	Wed Apr 07 10:12:43 2021 +0000
@@ -1,19 +1,24 @@
 #ifndef MOTOR_CONFIG_H
 #define MOTOR_CONFIG_H
 
-#define R_PHASE 0.105f          //Ohms
+// #define R_PHASE 0.105f          //Ohms
+#define R_PHASE 0.1265f
 //#define L_D 0.00003f            //Henries
-#define L_D 0.00005f 
+//#define L_D 0.00005f 
+#define L_D 0.000066f
 //#define L_Q 0.00003f            //Henries
-#define L_Q 0.00005f 
-//#define KT .075f                 //N-m per peak phase amp, = WB*NPP*3/2
-#define KT .05f
+//#define L_Q 0.00005f 
+#define L_Q 0.000066f
+#define KT .075f                 //N-m per peak phase amp, = WB*NPP*3/2
+// #define KT .05f
 #define NPP 21                  //Number of pole pairs
 #define GR 6.0f                 //Gear ratio
-// #define KT_OUT 0.45f            //KT*GR
-#define KT_OUT 0.30f       // xmotor, 这个可能是受到了磁铁和保持架影响
-//#define WB 0.0024f               //Webers.  
-#define WB 0.0016f
+#define KT_OUT 0.45f            //KT*GR
+// #define KT_OUT 0.30f
+// xmotor, 这个可能是受到了磁铁和保持架影响
+// #define KT_OUT 0.055f
+#define WB 0.0024f               //Webers.  
+// #define WB 0.0016f
 
 
 #endif