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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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@26:2b865c00d7e9, 2017-05-01 (annotated)
- Committer:
- benkatz
- Date:
- Mon May 01 15:22:58 2017 +0000
- Revision:
- 26:2b865c00d7e9
- Parent:
- 25:f5741040c4bb
- Child:
- 34:51647c6c500d
- Added CAN Send/Receive; - Updated to most recent MBED (Broke SPI 16-bit read/write. Hacked to work with 2 8-bit writes now); - Removed most sine/cos calculations; - Fixed sign error in autocalibration routine
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 | 25:f5741040c4bb | 4 | #define R_PHASE 0.105f //Ohms |
| benkatz | 22:60276ba87ac6 | 5 | #define L_D 0.00003f //Henries |
| benkatz | 22:60276ba87ac6 | 6 | #define L_Q 0.00003f //Henries |
| benkatz | 22:60276ba87ac6 | 7 | #define KT .07f //N-m per peak phase amp (= RMS amps/1.5) |
| benkatz | 22:60276ba87ac6 | 8 | #define NPP 21 //Number of pole pairs |
| benkatz | 26:2b865c00d7e9 | 9 | #define GR 6.0f //Gear ratio |
| benkatz | 26:2b865c00d7e9 | 10 | #define KT_OUT 0.45f //Effective output torque constatnt |
| benkatz | 20:bf9ea5125d52 | 11 | |
| benkatz | 22:60276ba87ac6 | 12 | #define WB KT/NPP //Webers. |
| benkatz | 22:60276ba87ac6 | 13 | |
| benkatz | 20:bf9ea5125d52 | 14 | |
| benkatz | 20:bf9ea5125d52 | 15 | |
| benkatz | 20:bf9ea5125d52 | 16 | #endif |