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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
40:cd7e837b2b93
Parent:
37:c0f352d6e8e3
Child:
41:304ac2affb23
--- a/Config/motor_config.h	Mon May 14 21:01:06 2018 +0000
+++ b/Config/motor_config.h	Thu May 24 15:02:32 2018 +0000
@@ -5,8 +5,8 @@
 #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 NPP 7                  //Number of pole pairs
+#define GR 1.0f                 //Gear ratio
 #define KT_OUT 0.45f            //KT*GR
 #define WB 0.0024f               //Webers.