Shao Rui / Joint_control_2AS5147_DRV8323RH_GR49_HJB_2020_8_10

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Dependencies:   mbed-dev-f303 FastPWM3

Config/motor_config.h@50:1fe5c2c53af1, 2020-05-26 (annotated)

Committer:
Rushu
Date:
Tue May 26 09:24:13 2020 +0000
Revision:
50:1fe5c2c53af1
Parent:
48:1b51771c3647
Child:
52:d4d5e3414865
with 2 AS5147, for joint control.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 20:bf9ea5125d52 1 #ifndef MOTOR_CONFIG_H
benkatz 20:bf9ea5125d52 2 #define MOTOR_CONFIG_H
benkatz 20:bf9ea5125d52 3
shaorui 48:1b51771c3647 4 //#define R_PHASE 0.105f //Ohms
Rushu 50:1fe5c2c53af1 5 //#define R_PHASE 0.45f //
Rushu 50:1fe5c2c53af1 6 #define R_PHASE 0.5f //50Nm joint
shaorui 48:1b51771c3647 7 //#define L_D 0.00003f //Henries
shaorui 48:1b51771c3647 8 //#define L_Q 0.00003f //Henries
Rushu 50:1fe5c2c53af1 9 //#define L_D 0.000186f //Henries
Rushu 50:1fe5c2c53af1 10 //#define L_Q 0.000186f //Henries
Rushu 50:1fe5c2c53af1 11 #define L_D 0.000216f //LJZ,Henries
Rushu 50:1fe5c2c53af1 12 #define L_Q 0.00024f //LJZ,Henries
shaorui 48:1b51771c3647 13 #define KT .08f//.075f //N-m per peak phase amp, = WB*NPP*3/2
benkatz 41:304ac2affb23 14 #define NPP 21 //Number of pole pairs
shaorui 48:1b51771c3647 15 //#define GR 1.0f //Gear ratio
Rushu 50:1fe5c2c53af1 16 #define GR 89.0f //Gear ratio
shaorui 48:1b51771c3647 17 #define KT_OUT 4.0f//0.45f //KT*GR
benkatz 37:c0f352d6e8e3 18 #define WB 0.0024f //Webers.
benkatz 22:60276ba87ac6 19
benkatz 20:bf9ea5125d52 20
benkatz 20:bf9ea5125d52 21
benkatz 20:bf9ea5125d52 22 #endif