Bayley Wang
robot
config_motor.h@116:aab9ed9586b9, 2017-04-23 (annotated)
- Committer:
- bwang
- Date:
- Sun Apr 23 04:29:59 2017 +0000
- Revision:
- 116:aab9ed9586b9
- Parent:
- 114:095a77fcf53b
- Child:
- 119:ad7a6af6fba3
this commit integrates several previous fixes (correct parameters, throttlemapper fix) and has a saturation-less table
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 | 39:80b38a8e1787 | 4 | /*# of pole pairs*/ |
| bwang | 15:b583cd30b063 | 5 | #define POLE_PAIRS 3.0f |
| bwang | 39:80b38a8e1787 | 6 | |
| bwang | 97:785be556c06d | 7 | /*electrical position offset, |
| bwang | 39:80b38a8e1787 | 8 | measured as +a, -b, -c (radians)*/ |
| bwang | 116:aab9ed9586b9 | 9 | #define POS_OFFSET 5.65f |
| bwang | 39:80b38a8e1787 | 10 | |
| bwang | 39:80b38a8e1787 | 11 | /*# of resolver lobes*/ |
| bwang | 15:b583cd30b063 | 12 | #define RESOLVER_LOBES 3.0f |
| bwang | 39:80b38a8e1787 | 13 | |
| bwang | 39:80b38a8e1787 | 14 | /*CPR of encoder or encoder emulator*/ |
| bwang | 15:b583cd30b063 | 15 | #define CPR 4096 |
| bwang | 29:50e6e4e46580 | 16 | |
| bwang | 39:80b38a8e1787 | 17 | /*d and q axis inductances, henries*/ |
| bwang | 114:095a77fcf53b | 18 | #define Ld 0.000605f |
| bwang | 114:095a77fcf53b | 19 | #define Lq 0.001536f |
| bwang | 30:c25c5bf0d951 | 20 | |
| bwang | 39:80b38a8e1787 | 21 | /*PM flux linkage, volt-seconds*/ |
| bwang | 116:aab9ed9586b9 | 22 | #define FLUX_LINKAGE 0.0529f |
| bwang | 39:80b38a8e1787 | 23 | |
| bwang | 42:030e0ec4eac5 | 24 | /*torque/phase amp for approximate models*/ |
| bwang | 42:030e0ec4eac5 | 25 | #define KT 0.3f |
| bwang | 42:030e0ec4eac5 | 26 | |
| bwang | 55:3568b78dc203 | 27 | /*a safe speed below which you |
| bwang | 55:3568b78dc203 | 28 | never need to field weaken*/ |
| bwang | 55:3568b78dc203 | 29 | #define W_SAFE 100.0f |
| bwang | 55:3568b78dc203 | 30 | |
| bwang | 39:80b38a8e1787 | 31 | /*maximum sane mechanical speed, |
| bwang | 39:80b38a8e1787 | 32 | used to filter velocity (rad/s)*/ |
| bwang | 40:22aede3d096f | 33 | #define W_CRAZY 1500.0f |
| bwang | 29:50e6e4e46580 | 34 | |
| bwang | 15:b583cd30b063 | 35 | #define PI 3.141593f |
| bwang | 15:b583cd30b063 | 36 | |
| bwang | 15:b583cd30b063 | 37 | #endif |