123
Dependencies: mbed-dev-f303 FastPWM3
Diff: Config/motor_config.h
- Revision:
- 50:9d762c5d05c3
- Parent:
- 48:f083ea9d1d03
--- a/Config/motor_config.h Thu Jan 09 01:42:00 2020 +0000 +++ b/Config/motor_config.h Mon Mar 29 07:08:14 2021 +0000 @@ -2,13 +2,16 @@ #define MOTOR_CONFIG_H #define R_PHASE 0.105f //Ohms +//#define R_PHASE 0.310f //Ohms 200N Joint #define L_D 0.00003f //Henries #define L_Q 0.00003f //Henries //#define KT .075f //N-m per peak phase amp, = WB*NPP*3/2 #define KT .08f #define NPP 21 //Number of pole pairs -//#define GR 1.0f -#define GR 49.0f //Gear ratio +//#define GR 1.0f +#define GR 49.0f +//#define GR 89.0f //Gear ratio +//#define GR 151.0f //Gear ratio //#define KT_OUT 0.45f //KT*GR #define KT_OUT 4.0f #define WB 0.0024f //Webers.