Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Config/motor_config_R60.h
- Committer:
- elijahsj
- Date:
- 2021-01-29
- Revision:
- 66:3947255b18c5
- Parent:
- 64:2c4c2b9d8248
File content as of revision 66:3947255b18c5:
#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