Bayley Wang
robot
config_motor.h@18:3863ca45cf26, 2016-10-31 (annotated)
- Committer:
- bwang
- Date:
- Mon Oct 31 06:53:28 2016 +0000
- Revision:
- 18:3863ca45cf26
- Parent:
- 15:b583cd30b063
- Child:
- 19:a6cf15f89f3d
added functionality for torque->dq, throttle->torque commands
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bwang | 15:b583cd30b063 | 1 | #ifndef __CONFIG_MOTOR_H |
| bwang | 15:b583cd30b063 | 2 | #define __CONFIG_MOTOR_H |
| bwang | 15:b583cd30b063 | 3 | |
| bwang | 15:b583cd30b063 | 4 | #define POLE_PAIRS 3.0f |
| bwang | 15:b583cd30b063 | 5 | #define POS_OFFSET 1.49f |
| bwang | 15:b583cd30b063 | 6 | #define RESOLVER_LOBES 3.0f |
| bwang | 15:b583cd30b063 | 7 | #define CPR 4096 |
| bwang | 18:3863ca45cf26 | 8 | #define KT 0.3f //Nm/A -- filler value until the LUT is made |
| bwang | 18:3863ca45cf26 | 9 | #define TORQUE_MAX 60.0f |
| bwang | 15:b583cd30b063 | 10 | #define Q_MAX 50.0f |
| bwang | 15:b583cd30b063 | 11 | |
| bwang | 15:b583cd30b063 | 12 | #define PI 3.141593f |
| bwang | 15:b583cd30b063 | 13 | |
| bwang | 15:b583cd30b063 | 14 | #endif |