Aditya Mehrotra / motor_driver_screaming_fix

Modified Motor Driver Firmware to include Flash + Thermal

Dependencies:   FastPWM3 mbed-dev-STM-lean

Config/motor_config.h@58:32e8927fe39f, 2020-02-04 (annotated)

Committer:
saloutos
Date:
Tue Feb 04 14:19:58 2020 +0000
Revision:
58:32e8927fe39f
Parent:
57:0795d2add37e 
Still need to figure out GR, motor config constants

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 20:bf9ea5125d52 1 #ifndef MOTOR_CONFIG_H
benkatz 20:bf9ea5125d52 2 #define MOTOR_CONFIG_H
benkatz 20:bf9ea5125d52 3
saloutos 58:32e8927fe39f 4 #define R_PHASE 0.4f //approx with multimeter //0.13f //Ohms
saloutos 58:32e8927fe39f 5 #define L_D 0.00008f //needs update //Henries
saloutos 58:32e8927fe39f 6 #define L_Q 0.00008f //needs update //Henries
saloutos 58:32e8927fe39f 7 #define KT 0.0398f // correct? //.075f //N-m per peak phase amp, = WB*NPP*3/2
saloutos 58:32e8927fe39f 8 #define NPP 21 //11 //Number of pole pairs
saloutos 58:32e8927fe39f 9 #define GR 6.0f //2.0f //Gear ratio
saloutos 58:32e8927fe39f 10 #define KT_OUT 0.239f //0.036f //KT*GR
saloutos 58:32e8927fe39f 11 #define WB 0.0013 // from KT //0.00287f //Flux linkage, Webers.
saloutos 58:32e8927fe39f 12 #define R_TH 1.25f //needs update //Kelvin per watt
saloutos 58:32e8927fe39f 13 #define INV_M_TH 0.02825f //needs update //Kelvin per joule
saloutos 58:32e8927fe39f 14 #define T_AMBIENT 25.0f // ambient temperature during temp calibration
benkatz 22:60276ba87ac6 15
saloutos 58:32e8927fe39f 16 // new motor has KV40 ...use to calculate Kt
benkatz 20:bf9ea5125d52 17
saloutos 58:32e8927fe39f 18 // new actuator has 36 stator slots, 42 pole magnets
saloutos 58:32e8927fe39f 19 // so, 21 elec revs per mech rev
saloutos 58:32e8927fe39f 20 // 36*21 steps per elec rev if using traditional commutation
benkatz 20:bf9ea5125d52 21
benkatz 20:bf9ea5125d52 22 #endif