Ben Katz / Hobbyking_Cheetah_Compact

Motor control for robots. More compact, less object-oriented revision.

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

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Show/hide line numbers motor_config.h Source File

motor_config.h

00001 #ifndef MOTOR_CONFIG_H
00002 #define MOTOR_CONFIG_H
00003 
00004 #define R_PHASE 0.105f          //Ohms
00005 #define L_D 0.00003f            //Henries
00006 #define L_Q 0.00003f            //Henries
00007 #define KT .075f                 //N-m per peak phase amp, = WB*NPP*3/2
00008 #define NPP 21                  //Number of pole pairs
00009 #define GR 6.0f                 //Gear ratio
00010 #define KT_OUT 0.45f            //KT*GR
00011 #define WB 0.0024f               //Webers.  
00012 
00013 
00014 
00015 #endif
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