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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
2019-10-10
Revision:
56:fe5056ac6740
Parent:
55:c4c9fec8539c

File content as of revision 56:fe5056ac6740:

#ifndef MOTOR_CONFIG_H
#define MOTOR_CONFIG_H

#define R_PHASE 0.13f           //Ohms
#define L_D 0.00008f            //Henries
#define L_Q 0.00008f            //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 KT_OUT 0.45f            //KT*GR
#define WB 0.00287f              //Flux linkage, Webers.  
#define R_TH 1.25f              //Kelvin per watt
#define INV_M_TH 0.02825f       //Kelvin per joule
#define T_AMBIENT 25.0f        // ambient temperature during temp calibration



#endif