Bayley Wang
/
foc-ed_in_the_bot_compact
robot
config_motor.h
- Committer:
- bwang
- Date:
- 2017-05-07
- Revision:
- 159:9dbc0657238c
- Parent:
- 139:d5ef8d1936f8
File content as of revision 159:9dbc0657238c:
#ifndef __CONFIG_MOTOR_H #define __CONFIG_MOTOR_H /*# of pole pairs*/ #define POLE_PAIRS 3.0f /*electrical position offset, measured as +a, -b, -c (radians)*/ #define POS_OFFSET 5.7614f /*# of resolver lobes*/ #define RESOLVER_LOBES 3.0f /*CPR of encoder or encoder emulator*/ #define CPR 4096 /*d and q axis inductances, henries*/ #define Ld 0.000605f #define Lq 0.001536f /*PM flux linkage, volt-seconds*/ #define FLUX_LINKAGE 0.0529f /*torque/phase amp for approximate models*/ #define KT 0.3f /*a safe speed below which you never need to field weaken*/ #define W_SAFE 100.0f /*maximum sane mechanical speed, used to filter velocity (rad/s)*/ #define W_CRAZY 2000.0f #define PI 3.141593f #endif