Aditya Mehrotra / motor_driver

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Dependencies:   FastPWM3 mbed-dev-STM-lean

Config/motor_config_R60.h@76:4fd876d4cf2b, 2022-10-18 (annotated)

Committer:
adimmit
Date:
Tue Oct 18 16:22:24 2022 +0000
Revision:
76:4fd876d4cf2b
Parent:
66:3947255b18c5 
added some position data logging;

Who changed what in which revision?

UserRevisionLine numberNew 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