Bayley Wang
robot
config_motor.h@30:c25c5bf0d951, 2016-11-07 (annotated)
- Committer:
- bwang
- Date:
- Mon Nov 07 13:25:35 2016 +0000
- Revision:
- 30:c25c5bf0d951
- Parent:
- 29:50e6e4e46580
- Child:
- 31:ebe42589ab9d
added decoupling; set Ld, Lq to nonzero to enable
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 | 24:5e18a87a0e95 | 5 | #define POS_OFFSET 5.88f |
| bwang | 15:b583cd30b063 | 6 | #define RESOLVER_LOBES 3.0f |
| bwang | 15:b583cd30b063 | 7 | #define CPR 4096 |
| bwang | 29:50e6e4e46580 | 8 | |
| bwang | 30:c25c5bf0d951 | 9 | #define Ld 0.0f //uH |
| bwang | 30:c25c5bf0d951 | 10 | #define Lq 0.0f |
| bwang | 30:c25c5bf0d951 | 11 | |
| bwang | 30:c25c5bf0d951 | 12 | #define KT 0.3f //Nm/A -- filler value until the LUT is made |
| bwang | 30:c25c5bf0d951 | 13 | |
| bwang | 29:50e6e4e46580 | 14 | #define IPHASE_MOTOR_LIMIT 200.0f |
| bwang | 29:50e6e4e46580 | 15 | #define W_LIMIT 1000.0f |
| bwang | 29:50e6e4e46580 | 16 | |
| bwang | 15:b583cd30b063 | 17 | #define PI 3.141593f |
| bwang | 15:b583cd30b063 | 18 | |
| bwang | 15:b583cd30b063 | 19 | #endif |