Bayley Wang
robot
config_motor.h@20:91ae97a811e3, 2016-11-05 (annotated)
- Committer:
- bwang
- Date:
- Sat Nov 05 07:52:36 2016 +0000
- Revision:
- 20:91ae97a811e3
- Parent:
- 19:a6cf15f89f3d
- Child:
- 24:5e18a87a0e95
added driving.h
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 | 19:a6cf15f89f3d | 9 | #define FORWARD_TORQUE_MAX 60.0f |
| bwang | 19:a6cf15f89f3d | 10 | #define REVERSE_TORQUE_MAX -20.0f |
| bwang | 20:91ae97a811e3 | 11 | #define W_MAX 1000.0f //max speed, mechanical rad/s |
| bwang | 15:b583cd30b063 | 12 | #define Q_MAX 50.0f |
| bwang | 15:b583cd30b063 | 13 | |
| bwang | 15:b583cd30b063 | 14 | #define PI 3.141593f |
| bwang | 15:b583cd30b063 | 15 | |
| bwang | 15:b583cd30b063 | 16 | #endif |