Diff: Config/motor_config.h

Revision:

47:f4ecf3e0576a

Parent:

41:304ac2affb23

Child:

48:a74e401a6d84

diff -r 6cc428f3431d -r f4ecf3e0576a Config/motor_config.h
--- a/Config/motor_config.h	Mon Jul 30 20:33:23 2018 +0000
+++ b/Config/motor_config.h	Wed May 13 09:53:27 2020 +0000
@@ -2,14 +2,18 @@
 #define MOTOR_CONFIG_H
 
 #define R_PHASE 0.105f          //Ohms
-#define L_D 0.00003f            //Henries
-#define L_Q 0.00003f            //Henries
-#define KT .075f                 //N-m per peak phase amp, = WB*NPP*3/2
+//#define L_D 0.00003f            //Henries
+#define L_D 0.00005f 
+//#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 NPP 21                  //Number of pole pairs
 #define GR 6.0f                 //Gear ratio
-#define KT_OUT 0.45f            //KT*GR
-#define WB 0.0024f               //Webers.  
-
+// #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
 
 
 #endif