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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
34:51647c6c500d
Parent:
26:2b865c00d7e9
Child:
37:c0f352d6e8e3
--- a/Config/motor_config.h	Wed Aug 30 18:10:27 2017 +0000
+++ b/Config/motor_config.h	Wed Nov 08 15:18:18 2017 +0000
@@ -4,7 +4,7 @@
 #define R_PHASE 0.105f          //Ohms
 #define L_D 0.00003f            //Henries
 #define L_Q 0.00003f            //Henries
-#define KT .07f                 //N-m per peak phase amp (= RMS amps/1.5)
+#define KT .075f                 //N-m per peak phase amp (= RMS amps/1.5)
 #define NPP 21                  //Number of pole pairs
 #define GR 6.0f                 //Gear ratio
 #define KT_OUT 0.45f            //Effective output torque constatnt