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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
37:c0f352d6e8e3
Parent:
34:51647c6c500d
Child:
40:cd7e837b2b93
--- a/Config/motor_config.h	Fri Mar 02 15:24:00 2018 +0000
+++ b/Config/motor_config.h	Fri Apr 13 13:50:54 2018 +0000
@@ -4,12 +4,11 @@
 #define R_PHASE 0.105f          //Ohms
 #define L_D 0.00003f            //Henries
 #define L_Q 0.00003f            //Henries
-#define KT .075f                 //N-m per peak phase amp (= RMS amps/1.5)
+#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            //Effective output torque constatnt
-
-#define WB KT/NPP               //Webers.  
+#define KT_OUT 0.45f            //KT*GR
+#define WB 0.0024f               //Webers.