Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Config/motor_config_R60.h@66:3947255b18c5, 2021-01-29 (annotated)
- Committer:
- elijahsj
- Date:
- Fri Jan 29 20:39:36 2021 +0000
- Revision:
- 66:3947255b18c5
- Parent:
- 64:2c4c2b9d8248
update U12 parameters;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
saloutos | 64:2c4c2b9d8248 | 1 | #ifndef MOTOR_CONFIG_U12_H |
saloutos | 64:2c4c2b9d8248 | 2 | #define MOTOR_CONFIG_U12_H |
saloutos | 64:2c4c2b9d8248 | 3 | |
saloutos | 64:2c4c2b9d8248 | 4 | // CONFIGURATION PARAMETERS FOR R60 MOTORS |
saloutos | 64:2c4c2b9d8248 | 5 | |
saloutos | 64:2c4c2b9d8248 | 6 | //TODO: fill in all of these parameters |
saloutos | 64:2c4c2b9d8248 | 7 | |
elijahsj | 66:3947255b18c5 | 8 | //#define R_PHASE 0.5f //Ohms |
elijahsj | 66:3947255b18c5 | 9 | //#define L_D 0.000084f //needs update //Henries |
elijahsj | 66:3947255b18c5 | 10 | //#define L_Q 0.000104f //needs update //Henries |
elijahsj | 66:3947255b18c5 | 11 | //#define NPP 14 //Number of pole pairs |
saloutos | 64:2c4c2b9d8248 | 12 | |
elijahsj | 66:3947255b18c5 | 13 | //#define KT 0.083f //N-m per peak phase amp, = WB*NPP*3/2 |
elijahsj | 66:3947255b18c5 | 14 | //#define GR 2.0f //Gear ratio |
elijahsj | 66:3947255b18c5 | 15 | //#define KT_OUT 0.166f //KT*GR |
elijahsj | 66:3947255b18c5 | 16 | //#define WB 0.0040f // from KT //Flux linkage, Webers. |
saloutos | 64:2c4c2b9d8248 | 17 | |
elijahsj | 66:3947255b18c5 | 18 | //#define R_TH 1.25f //needs update //Kelvin per watt |
elijahsj | 66:3947255b18c5 | 19 | //#define INV_M_TH 0.02825f //needs update //Kelvin per joule |
elijahsj | 66:3947255b18c5 | 20 | //#define T_AMBIENT 25.0f // ambient temperature during temp calibration |
saloutos | 64:2c4c2b9d8248 | 21 | |
saloutos | 64:2c4c2b9d8248 | 22 | // R60 motor is KV115...use to calculate Kt |
saloutos | 64:2c4c2b9d8248 | 23 | // actuator has 24 stator slots, 28 pole magnets |
saloutos | 64:2c4c2b9d8248 | 24 | // so, 14 elec revs per mech rev |
saloutos | 64:2c4c2b9d8248 | 25 | // 24*14 steps per elec rev if using traditional commutation |
saloutos | 64:2c4c2b9d8248 | 26 | |
saloutos | 64:2c4c2b9d8248 | 27 | #endif |