Diff: Config/motor_config.h

Revision:

49:fcfe9f46657b

Parent:

48:f083ea9d1d03

--- a/Config/motor_config.h	Thu Jan 09 01:42:00 2020 +0000
+++ b/Config/motor_config.h	Wed Apr 14 11:31:33 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.