Shao Rui
123
Dependencies: mbed-dev-f303 FastPWM3
Config/motor_config.h@50:9d762c5d05c3, 2021-03-29 (annotated)
- Committer:
- shaorui
- Date:
- Mon Mar 29 07:08:14 2021 +0000
- Revision:
- 50:9d762c5d05c3
- Parent:
- 48:f083ea9d1d03
suojin
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| benkatz | 20:bf9ea5125d52 | 1 | #ifndef MOTOR_CONFIG_H |
| benkatz | 20:bf9ea5125d52 | 2 | #define MOTOR_CONFIG_H |
| benkatz | 20:bf9ea5125d52 | 3 | |
| benkatz | 25:f5741040c4bb | 4 | #define R_PHASE 0.105f //Ohms |
| shaorui | 50:9d762c5d05c3 | 5 | //#define R_PHASE 0.310f //Ohms 200N Joint |
| benkatz | 22:60276ba87ac6 | 6 | #define L_D 0.00003f //Henries |
| benkatz | 22:60276ba87ac6 | 7 | #define L_Q 0.00003f //Henries |
| shaorui | 48:f083ea9d1d03 | 8 | //#define KT .075f //N-m per peak phase amp, = WB*NPP*3/2 |
| shaorui | 48:f083ea9d1d03 | 9 | #define KT .08f |
| benkatz | 41:304ac2affb23 | 10 | #define NPP 21 //Number of pole pairs |
| shaorui | 50:9d762c5d05c3 | 11 | //#define GR 1.0f |
| shaorui | 50:9d762c5d05c3 | 12 | #define GR 49.0f |
| shaorui | 50:9d762c5d05c3 | 13 | //#define GR 89.0f //Gear ratio |
| shaorui | 50:9d762c5d05c3 | 14 | //#define GR 151.0f //Gear ratio |
| shaorui | 48:f083ea9d1d03 | 15 | //#define KT_OUT 0.45f //KT*GR |
| shaorui | 48:f083ea9d1d03 | 16 | #define KT_OUT 4.0f |
| benkatz | 37:c0f352d6e8e3 | 17 | #define WB 0.0024f //Webers. |
| benkatz | 22:60276ba87ac6 | 18 | |
| benkatz | 20:bf9ea5125d52 | 19 | |
| benkatz | 20:bf9ea5125d52 | 20 | |
| benkatz | 20:bf9ea5125d52 | 21 | #endif |