Aditya Mehrotra / motor_driver_screaming_fix

Modified Motor Driver Firmware to include Flash + Thermal

Dependencies:   FastPWM3 mbed-dev-STM-lean

Config/motor_config_U12.h@66:3947255b18c5, 2021-01-29 (annotated)

Committer:
elijahsj
Date:
Fri Jan 29 20:39:36 2021 +0000
Revision:
66:3947255b18c5
Parent:
62:bbdf5afada79 
update U12 parameters;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
saloutos 62:bbdf5afada79 1 #ifndef MOTOR_CONFIG_U12_H
saloutos 62:bbdf5afada79 2 #define MOTOR_CONFIG_U12_H
benkatz 20:bf9ea5125d52 3
elijahsj 66:3947255b18c5 4
saloutos 61:33f2dc2b589f 5 // CONFIGURATION PARAMETERS FOR U12 MOTORS
saloutos 60:0c8caaa91182 6
elijahsj 66:3947255b18c5 7 #define R_PHASE 0.158f //Ohms
saloutos 61:33f2dc2b589f 8 #define L_D 0.000084f //Henries
elijahsj 66:3947255b18c5 9 #define L_Q 0.000084f //Henries
saloutos 61:33f2dc2b589f 10 #define NPP 21 //Number of pole pairs
saloutos 61:33f2dc2b589f 11
elijahsj 66:3947255b18c5 12 #define KT 0.1916f //N-m per peak phase amp, = WB*NPP*3/2
saloutos 61:33f2dc2b589f 13 #define GR 6.0f //Gear ratio
elijahsj 66:3947255b18c5 14 #define KT_OUT 1.15f //KT*GR
elijahsj 66:3947255b18c5 15 #define WB 0.00608f // from KT //Flux linkage, Webers.
saloutos 61:33f2dc2b589f 16
saloutos 58:32e8927fe39f 17 #define R_TH 1.25f //needs update //Kelvin per watt
saloutos 58:32e8927fe39f 18 #define INV_M_TH 0.02825f //needs update //Kelvin per joule
saloutos 61:33f2dc2b589f 19 #define T_AMBIENT 25.0f // ambient temperature during temp calibration
benkatz 22:60276ba87ac6 20
saloutos 61:33f2dc2b589f 21 // U12 motor is KV40...use to calculate Kt
saloutos 61:33f2dc2b589f 22 // actuator has 36 stator slots, 42 pole magnets
saloutos 58:32e8927fe39f 23 // so, 21 elec revs per mech rev
saloutos 58:32e8927fe39f 24 // 36*21 steps per elec rev if using traditional commutation
benkatz 20:bf9ea5125d52 25
benkatz 20:bf9ea5125d52 26 #endif