Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Config/motor_config_U10.h
- Committer:
- elijahsj
- Date:
- 2021-01-29
- Revision:
- 66:3947255b18c5
- Parent:
- 62:bbdf5afada79
- Child:
- 67:96a4052a1705
File content as of revision 66:3947255b18c5:
#ifndef MOTOR_CONFIG_U10_H #define MOTOR_CONFIG_U10_H // CONFIGURATION PARAMETERS OF U10 MOTORS #define R_PHASE 0.433f //Ohms #define L_D 0.0002f //Henries #define L_Q 0.0002f //Henries, set both inductances equal for now #define NPP 21 //Number of pole pairs #define KT 0.15f //N-m per peak phase amp, = WB*NPP*3/2 #define GR 6.0f //Gear ratio #define KT_OUT 0.9f //KT*GR #define WB 0.00606f // 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 #define T_AMBIENT 25.0f // ambient temperature during temp calibration // U10 motor is KV50...use to calculate Kt // 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