File content as of revision 64:2c4c2b9d8248:

#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