Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Diff: Config/motor_config_R60.h
- Revision:
- 66:3947255b18c5
- Parent:
- 64:2c4c2b9d8248
diff -r bfdf1e10428d -r 3947255b18c5 Config/motor_config_R60.h --- a/Config/motor_config_R60.h Thu Nov 26 04:31:14 2020 +0000 +++ b/Config/motor_config_R60.h Fri Jan 29 20:39:36 2021 +0000 @@ -5,19 +5,19 @@ //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 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 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 +//#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