Ben Katz / HKC_MiniCheetah

Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol

Dependencies:   mbed-dev-f303 FastPWM3

Superseded by: https://github.com/bgkatz/motorcontrol

Diff: Config/motor_config.h

Revision:
45:26801179208e
Parent:
41:304ac2affb23
Child:
46:2d4b1dafcfe3
--- a/Config/motor_config.h	Mon Jun 11 00:04:06 2018 +0000
+++ b/Config/motor_config.h	Wed Jun 27 03:44:44 2018 +0000
@@ -1,14 +1,14 @@
 #ifndef MOTOR_CONFIG_H
 #define MOTOR_CONFIG_H
 
-#define R_PHASE 0.105f          //Ohms
+#define R_PHASE 0.13f          //Ohms
 #define L_D 0.00003f            //Henries
 #define L_Q 0.00003f            //Henries
 #define KT .075f                 //N-m per peak phase amp, = WB*NPP*3/2
 #define NPP 21                  //Number of pole pairs
 #define GR 6.0f                 //Gear ratio
 #define KT_OUT 0.45f            //KT*GR
-#define WB 0.0024f               //Webers.  
+#define WB 0.0024f               //Flux linkage, Webers.