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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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@56:fe5056ac6740, 2019-10-10 (annotated)
- Committer:
- benkatz
- Date:
- Thu Oct 10 15:03:12 2019 +0000
- Revision:
- 56:fe5056ac6740
- Parent:
- 55:c4c9fec8539c
fixed position-sensor turn-on weirdness; ; improved output zeroing to work independent of encoder rollover angle
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 | 48:74a40481740c | 4 | #define R_PHASE 0.13f //Ohms |
| benkatz | 55:c4c9fec8539c | 5 | #define L_D 0.00008f //Henries |
| benkatz | 55:c4c9fec8539c | 6 | #define L_Q 0.00008f //Henries |
| benkatz | 55:c4c9fec8539c | 7 | #define KT .075f //N-m per peak phase amp, = WB*NPP*3/2 |
| benkatz | 47:e1196a851f76 | 8 | #define NPP 21 //Number of pole pairs |
| benkatz | 53:e85efce8c1eb | 9 | #define GR 6.0f //Gear ratio |
| benkatz | 37:c0f352d6e8e3 | 10 | #define KT_OUT 0.45f //KT*GR |
| benkatz | 55:c4c9fec8539c | 11 | #define WB 0.00287f //Flux linkage, Webers. |
| benkatz | 48:74a40481740c | 12 | #define R_TH 1.25f //Kelvin per watt |
| benkatz | 55:c4c9fec8539c | 13 | #define INV_M_TH 0.02825f //Kelvin per joule |
| benkatz | 55:c4c9fec8539c | 14 | #define T_AMBIENT 25.0f // ambient temperature during temp calibration |
| benkatz | 22:60276ba87ac6 | 15 | |
| benkatz | 20:bf9ea5125d52 | 16 | |
| benkatz | 20:bf9ea5125d52 | 17 | |
| benkatz | 20:bf9ea5125d52 | 18 | #endif |