Barton Dring / Hobbyking_Cheetah_Compact_DRV8323

Bart's version for testing step/dir control

Dependencies:   mbed-dev-f303 FastPWM3

Diff: Config/motor_config.h

Revision:
52:cf8b2abf811d
Parent:
48:74a40481740c
Child:
54:3e056b097c52
--- a/Config/motor_config.h	Wed Jul 17 03:40:12 2019 +0000
+++ b/Config/motor_config.h	Thu Feb 27 00:13:18 2020 +0000
@@ -6,12 +6,15 @@
 #define L_Q 0.00002f            //Henries
 #define KT .08f                 //N-m per peak phase amp, = WB*NPP*3/2
 #define NPP 21                  //Number of pole pairs
-#define GR 1.0f                 //Gear ratio
+#define GR 6.0f                 //Gear ratio
 #define KT_OUT 0.45f            //KT*GR
 #define WB 0.0025f              //Flux linkage, Webers.  
 #define R_TH 1.25f              //Kelvin per watt
 #define INV_M_TH 0.03125f       //Kelvin per joule
 
+#define P_MIN -12.5f // posiiton min in radians
+#define P_MAX 12.5f  // posiiton max in radians
+
 
 
 #endif