Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Diff: Config/motor_config_R60.h
- Revision:
- 64:2c4c2b9d8248
- Child:
- 66:3947255b18c5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Config/motor_config_R60.h Wed Nov 25 16:41:27 2020 +0000 @@ -0,0 +1,27 @@ +#ifndef MOTOR_CONFIG_U12_H +#define MOTOR_CONFIG_U12_H + +// CONFIGURATION PARAMETERS FOR R60 MOTORS + +//TODO: fill in all of these parameters + +#define R_PHASE 0.5f //Ohms +#define L_D 0.000084f //needs update //Henries +#define L_Q 0.000104f //needs update //Henries +#define NPP 14 //Number of pole pairs + +#define KT 0.083f //N-m per peak phase amp, = WB*NPP*3/2 +#define GR 2.0f //Gear ratio +#define KT_OUT 0.166f //KT*GR +#define WB 0.0040f // from KT //Flux linkage, Webers. + +#define R_TH 1.25f //needs update //Kelvin per watt +#define INV_M_TH 0.02825f //needs update //Kelvin per joule +#define T_AMBIENT 25.0f // ambient temperature during temp calibration + +// R60 motor is KV115...use to calculate Kt +// actuator has 24 stator slots, 28 pole magnets +// so, 14 elec revs per mech rev +// 24*14 steps per elec rev if using traditional commutation + +#endif