Diff: Config/motor_config_U12.h

Revision:

66:3947255b18c5

Parent:

62:bbdf5afada79

--- a/Config/motor_config_U12.h	Thu Nov 26 04:31:14 2020 +0000
+++ b/Config/motor_config_U12.h	Fri Jan 29 20:39:36 2021 +0000
@@ -1,17 +1,18 @@
 #ifndef MOTOR_CONFIG_U12_H
 #define MOTOR_CONFIG_U12_H
 
+
 // CONFIGURATION PARAMETERS FOR U12 MOTORS
 
-#define R_PHASE 0.433f            //Ohms
+#define R_PHASE 0.158f            //Ohms
 #define L_D 0.000084f             //Henries
-#define L_Q 0.000104f             //Henries
+#define L_Q 0.000084f             //Henries
 #define NPP 21                    //Number of pole pairs  
 
-#define KT 0.239f                 //N-m per peak phase amp, = WB*NPP*3/2
+#define KT 0.1916f                 //N-m per peak phase amp, = WB*NPP*3/2
 #define GR 6.0f                   //Gear ratio
-#define KT_OUT 1.434f             //KT*GR
-#define WB 0.0076f // from KT     //Flux linkage, Webers.  
+#define KT_OUT 1.15f             //KT*GR
+#define WB 0.00608f // from KT     //Flux linkage, Webers.  
 
 #define R_TH 1.25f  //needs update            //Kelvin per watt
 #define INV_M_TH 0.02825f //needs update      //Kelvin per joule