Ben Katz / HKC_MiniCheetah

Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol

Dependencies:   mbed-dev-f303 FastPWM3

Superseded by: https://github.com/bgkatz/motorcontrol

Diff: Config/motor_config.h

Revision:
26:2b865c00d7e9
Parent:
25:f5741040c4bb
Child:
34:51647c6c500d
--- a/Config/motor_config.h	Sun Apr 09 03:05:52 2017 +0000
+++ b/Config/motor_config.h	Mon May 01 15:22:58 2017 +0000
@@ -6,6 +6,8 @@
 #define L_Q 0.00003f            //Henries
 #define KT .07f                 //N-m per peak phase amp (= RMS amps/1.5)
 #define NPP 21                  //Number of pole pairs
+#define GR 6.0f                 //Gear ratio
+#define KT_OUT 0.45f            //Effective output torque constatnt
 
 #define WB KT/NPP               //Webers.