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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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@22:60276ba87ac6, 2017-03-31 (annotated)
- Committer:
- benkatz
- Date:
- Fri Mar 31 18:24:46 2017 +0000
- Revision:
- 22:60276ba87ac6
- Parent:
- 20:bf9ea5125d52
- Child:
- 25:f5741040c4bb
Encoder autocalibration for dc offset and harmonics
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 | 22:60276ba87ac6 | 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 | 20:bf9ea5125d52 | 9 | |
| benkatz | 22:60276ba87ac6 | 10 | #define WB KT/NPP //Webers. |
| benkatz | 22:60276ba87ac6 | 11 | |
| benkatz | 20:bf9ea5125d52 | 12 | |
| benkatz | 20:bf9ea5125d52 | 13 | |
| benkatz | 20:bf9ea5125d52 | 14 | #endif |