Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: config_motor.h

Revision:
39:80b38a8e1787
Parent:
38:07cb4ae6c1bd
Child:
40:22aede3d096f
--- a/config_motor.h	Tue Nov 29 00:31:18 2016 +0000
+++ b/config_motor.h	Sat Dec 03 17:49:02 2016 +0000
@@ -1,15 +1,28 @@
 #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
 
-#define Ld 0.000876f //Henries
-#define Lq 0.002068f 
-#define FLUX_LINKAGE 0.1f //Vs
+/*d and q axis inductances, henries*/
+#define Ld 0.000876f
+#define Lq 0.002068f
 
+/*PM flux linkage, volt-seconds*/
+#define FLUX_LINKAGE 0.06f
+
+/*maximum sane mechanical speed,
+  used to filter velocity (rad/s)*/
 #define W_LIMIT 1000.0f
 
 #define PI 3.141593f