Diff: Config/motor_config.h

Revision:

50:1fe5c2c53af1

Parent:

48:1b51771c3647

Child:

52:d4d5e3414865

--- a/Config/motor_config.h	Thu Mar 19 03:48:24 2020 +0000
+++ b/Config/motor_config.h	Tue May 26 09:24:13 2020 +0000
@@ -2,15 +2,18 @@
 #define MOTOR_CONFIG_H
 
 //#define R_PHASE 0.105f          //Ohms
-#define R_PHASE 0.45f  
+//#define R_PHASE 0.45f             //
+#define R_PHASE 0.5f             //50Nm joint
 //#define L_D 0.00003f            //Henries
 //#define L_Q 0.00003f            //Henries
-#define L_D 0.000186f            //Henries
-#define L_Q 0.000186f            //Henries
+//#define L_D 0.000186f            //Henries
+//#define L_Q 0.000186f            //Henries
+#define L_D 0.000216f            //LJZ,Henries
+#define L_Q 0.00024f            //LJZ,Henries
 #define KT .08f//.075f                 //N-m per peak phase amp, = WB*NPP*3/2
 #define NPP 21                  //Number of pole pairs
 //#define GR 1.0f                 //Gear ratio
-#define GR 49.0f                 //Gear ratio
+#define GR 89.0f                 //Gear ratio
 #define KT_OUT 4.0f//0.45f            //KT*GR
 #define WB 0.0024f               //Webers.