Aditya Mehrotra / motor_driver_screaming_fix

Modified Motor Driver Firmware to include Flash + Thermal

Dependencies:   FastPWM3 mbed-dev-STM-lean

Config/motor_config_U10.h@61:33f2dc2b589f, 2020-11-04 (annotated)

Committer:
saloutos
Date:
Wed Nov 04 19:19:48 2020 +0000
Revision:
61:33f2dc2b589f
Parent:
60:0c8caaa91182
Child:
62:bbdf5afada79
Updated motor config files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
saloutos 60:0c8caaa91182 1 #ifndef MOTOR_CONFIG_H
saloutos 60:0c8caaa91182 2 #define MOTOR_CONFIG_H
saloutos 60:0c8caaa91182 3
saloutos 61:33f2dc2b589f 4 // CONFIGURATION PARAMETERS OF U10 MOTORS
saloutos 60:0c8caaa91182 5
saloutos 61:33f2dc2b589f 6 #define R_PHASE 0.158f //Ohms
saloutos 61:33f2dc2b589f 7 #define L_D 0.0002f //Henries
saloutos 61:33f2dc2b589f 8 #define L_Q 0.000256f //Henries
saloutos 61:33f2dc2b589f 9 #define NPP 21 //Number of pole pairs
saloutos 61:33f2dc2b589f 10
saloutos 61:33f2dc2b589f 11 #define KT 0.191f //N-m per peak phase amp, = WB*NPP*3/2
saloutos 61:33f2dc2b589f 12 #define GR 6.0f //Gear ratio
saloutos 61:33f2dc2b589f 13 #define KT_OUT 1.146f //KT*GR
saloutos 61:33f2dc2b589f 14 #define WB 0.00606f // from KT //Flux linkage, Webers.
saloutos 61:33f2dc2b589f 15
saloutos 60:0c8caaa91182 16 #define R_TH 1.25f //needs update //Kelvin per watt
saloutos 60:0c8caaa91182 17 #define INV_M_TH 0.02825f //needs update //Kelvin per joule
saloutos 61:33f2dc2b589f 18 #define T_AMBIENT 25.0f // ambient temperature during temp calibration
saloutos 60:0c8caaa91182 19
saloutos 61:33f2dc2b589f 20 // U10 motor is KV50...use to calculate Kt
saloutos 61:33f2dc2b589f 21 // actuator has 36 stator slots, 42 pole magnets
saloutos 60:0c8caaa91182 22 // so, 21 elec revs per mech rev
saloutos 60:0c8caaa91182 23 // 36*21 steps per elec rev if using traditional commutation
saloutos 60:0c8caaa91182 24
saloutos 60:0c8caaa91182 25 #endif