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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
53:e85efce8c1eb
Parent:
48:74a40481740c
Child:
55:c4c9fec8539c
--- a/Config/motor_config.h	Wed Jul 17 03:40:12 2019 +0000
+++ b/Config/motor_config.h	Thu Aug 08 17:19:39 2019 +0000
@@ -6,7 +6,7 @@
 #define L_Q 0.00002f            //Henries
 #define KT .08f                 //N-m per peak phase amp, = WB*NPP*3/2
 #define NPP 21                  //Number of pole pairs
-#define GR 1.0f                 //Gear ratio
+#define GR 6.0f                 //Gear ratio
 #define KT_OUT 0.45f            //KT*GR
 #define WB 0.0025f              //Flux linkage, Webers.  
 #define R_TH 1.25f              //Kelvin per watt