Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Config/motor_config_U10.h
- Committer:
- saloutos
- Date:
- 2020-11-02
- Revision:
- 60:0c8caaa91182
- Child:
- 61:33f2dc2b589f
File content as of revision 60:0c8caaa91182:
#ifndef MOTOR_CONFIG_H #define MOTOR_CONFIG_H // WHOLE FILE NEEDS UPDATING FOR U10 MOTORS #define R_PHASE 0.4f //approx with multimeter //0.13f //Ohms #define L_D 0.00008f //needs update //Henries #define L_Q 0.00008f //needs update //Henries #define KT 0.0398f // correct? //.075f //N-m per peak phase amp, = WB*NPP*3/2 #define NPP 21 //11 //Number of pole pairs #define GR 6.0f //2.0f //Gear ratio #define KT_OUT 0.239f //0.036f //KT*GR #define WB 0.0013 // from KT //0.00287f //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 // new motor has KV40 ...use to calculate Kt // new actuator has 36 stator slots, 42 pole magnets // so, 21 elec revs per mech rev // 36*21 steps per elec rev if using traditional commutation #endif