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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
2018-05-24
Revision:
40:cd7e837b2b93
Parent:
37:c0f352d6e8e3
Child:
41:304ac2affb23

File content as of revision 40:cd7e837b2b93:

#ifndef MOTOR_CONFIG_H
#define MOTOR_CONFIG_H

#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, = WB*NPP*3/2
#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.  



#endif