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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol

Config/motor_config.h

Committer:
benkatz
Date:
2019-03-03
Revision:
48:74a40481740c
Parent:
47:e1196a851f76
Child:
52:8e74c22ed89f
Child:
53:e85efce8c1eb

File content as of revision 48:74a40481740c:

#ifndef MOTOR_CONFIG_H
#define MOTOR_CONFIG_H

#define R_PHASE 0.13f           //Ohms
#define L_D 0.00002f            //Henries
#define L_Q 0.00002f            //Henries
#define KT .08f                 //N-m per peak phase amp, = WB*NPP*3/2
#define NPP 21                  //Number of pole pairs
#define GR 1.0f                 //Gear ratio
#define KT_OUT 0.45f            //KT*GR
#define WB 0.0025f              //Flux linkage, Webers.  
#define R_TH 1.25f              //Kelvin per watt
#define INV_M_TH 0.03125f       //Kelvin per joule



#endif