Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

config_motor.h@79:d0b1bb3dcf68, 2017-02-28 (annotated)

Committer:
bwang
Date:
Tue Feb 28 03:32:21 2017 +0000
Revision:
79:d0b1bb3dcf68
Parent:
55:3568b78dc203
Child:
95:a86aea5c5ab2
added FlashWriter class

Who changed what in which revision?

UserRevisionLine numberNew 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 39:80b38a8e1787 7 /*mechanical position offset,
bwang 39:80b38a8e1787 8 measured as +a, -b, -c (radians)*/
bwang 24:5e18a87a0e95 9 #define POS_OFFSET 5.88f
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 39:80b38a8e1787 18 #define Ld 0.000876f
bwang 39:80b38a8e1787 19 #define Lq 0.002068f
bwang 30:c25c5bf0d951 20
bwang 39:80b38a8e1787 21 /*PM flux linkage, volt-seconds*/
bwang 39:80b38a8e1787 22 #define FLUX_LINKAGE 0.06f
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