Diff: Defaults/config_motor.h

Revision:

1:df6bbacb7bb9

Parent:

0:941e150e78b6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Defaults/config_motor.h	Thu Mar 02 07:04:47 2017 +0000
@@ -0,0 +1,40 @@
+#ifndef __CONFIG_MOTOR_H
+#define __CONFIG_MOTOR_H
+
+/*# of pole pairs*/
+#define POLE_PAIRS 3.0f
+
+/*mechanical position offset,
+  measured as +a, -b, -c (radians)*/
+#define POS_OFFSET 5.88f
+
+/*# of resolver lobes*/
+#define RESOLVER_LOBES 3.0f
+
+/*CPR of encoder or encoder emulator*/
+#define CPR 4096
+
+/*d and q axis inductances, henries*/
+#define Ld 0.000876f
+#define Lq 0.002068f
+
+/*PM flux linkage, volt-seconds*/
+#define FLUX_LINKAGE 0.06f
+
+/*single phase resistance, ohms*/
+#define Rs 0.05f
+
+/*torque/phase amp for approximate models*/
+#define KT 0.3f
+
+/*a safe speed below which you 
+  never need to field weaken*/
+#define W_SAFE 100.0f
+
+/*maximum sane mechanical speed,
+  used to filter velocity (rad/s)*/
+#define W_CRAZY 1500.0f
+
+#define PI 3.141593f
+
+#endif
\ No newline at end of file