Diff: Config/motor_config_U12.h

Revision:

60:0c8caaa91182

Parent:

58:32e8927fe39f

Child:

61:33f2dc2b589f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Config/motor_config_U12.h	Mon Nov 02 20:08:14 2020 +0000
@@ -0,0 +1,24 @@
+#ifndef MOTOR_CONFIG_H
+#define MOTOR_CONFIG_H
+
+// WHOLE FILE NEEDS UPDATING FOR U12 MOTORS
+
+#define R_PHASE 0.4f            //approx with multimeter //0.13f //Ohms
+#define L_D 0.00008f //needs update            //Henries
+#define L_Q 0.00008f //needs update           //Henries
+#define KT 0.0398f // correct?              //.075f //N-m per peak phase amp, = WB*NPP*3/2
+#define NPP 21                  //11 //Number of pole pairs      
+#define GR 6.0f                 //2.0f //Gear ratio
+#define KT_OUT 0.239f           //0.036f //KT*GR
+#define WB 0.0013 // from KT                //0.00287f //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
+
+// new motor has KV40 ...use to calculate Kt
+
+// new actuator has 36 stator slots, 42 pole magnets
+// so, 21 elec revs per mech rev
+// 36*21 steps per elec rev if using traditional commutation
+
+#endif