Ben Katz
Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol
Dependencies: mbed-dev-f303 FastPWM3
Superseded by: https://github.com/bgkatz/motorcontrol
Config/motor_config.h@45:26801179208e, 2018-06-27 (annotated)
- Committer:
- benkatz
- Date:
- Wed Jun 27 03:44:44 2018 +0000
- Revision:
- 45:26801179208e
- Parent:
- 41:304ac2affb23
- Child:
- 46:2d4b1dafcfe3
Lots of changes, seems to have broken calibration
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| benkatz | 20:bf9ea5125d52 | 1 | #ifndef MOTOR_CONFIG_H |
| benkatz | 20:bf9ea5125d52 | 2 | #define MOTOR_CONFIG_H |
| benkatz | 20:bf9ea5125d52 | 3 | |
| benkatz | 45:26801179208e | 4 | #define R_PHASE 0.13f //Ohms |
| benkatz | 22:60276ba87ac6 | 5 | #define L_D 0.00003f //Henries |
| benkatz | 22:60276ba87ac6 | 6 | #define L_Q 0.00003f //Henries |
| benkatz | 37:c0f352d6e8e3 | 7 | #define KT .075f //N-m per peak phase amp, = WB*NPP*3/2 |
| benkatz | 41:304ac2affb23 | 8 | #define NPP 21 //Number of pole pairs |
| benkatz | 41:304ac2affb23 | 9 | #define GR 6.0f //Gear ratio |
| benkatz | 37:c0f352d6e8e3 | 10 | #define KT_OUT 0.45f //KT*GR |
| benkatz | 45:26801179208e | 11 | #define WB 0.0024f //Flux linkage, Webers. |
| benkatz | 22:60276ba87ac6 | 12 | |
| benkatz | 20:bf9ea5125d52 | 13 | |
| benkatz | 20:bf9ea5125d52 | 14 | |
| benkatz | 20:bf9ea5125d52 | 15 | #endif |