Diff: Config/motor_config.h

Revision:

58:32e8927fe39f

Parent:

57:0795d2add37e

--- a/Config/motor_config.h	Thu Nov 07 18:14:51 2019 +0000
+++ b/Config/motor_config.h	Tue Feb 04 14:19:58 2020 +0000
@@ -1,18 +1,22 @@
 #ifndef MOTOR_CONFIG_H
 #define MOTOR_CONFIG_H
 
-#define R_PHASE 0.13f           //Ohms
-#define L_D 0.00008f            //Henries
-#define L_Q 0.00008f            //Henries
-#define KT .075f                 //N-m per peak phase amp, = WB*NPP*3/2
-#define NPP 11                  //Number of pole pairs
-#define GR 2.0f                 //Gear ratio
-#define KT_OUT 0.036f            //KT*GR
-#define WB 0.00287f              //Flux linkage, Webers.  
-#define R_TH 1.25f              //Kelvin per watt
-#define INV_M_TH 0.02825f       //Kelvin per joule
-#define T_AMBIENT 25.0f        // ambient temperature during temp calibration
+#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