Bayley Wang
robot
config_motor.h@42:030e0ec4eac5, 2017-01-06 (annotated)
- Committer:
- bwang
- Date:
- Fri Jan 06 07:54:22 2017 +0000
- Revision:
- 42:030e0ec4eac5
- Parent:
- 40:22aede3d096f
- Child:
- 55:3568b78dc203
structural changes; reference and throttle maps now classes, global variables moved to structs, system config functions moved to BREMS/*
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bwang | 15:b583cd30b063 | 1 | #ifndef __CONFIG_MOTOR_H |
| bwang | 15:b583cd30b063 | 2 | #define __CONFIG_MOTOR_H |
| bwang | 15:b583cd30b063 | 3 | |
| bwang | 39:80b38a8e1787 | 4 | /*# of pole pairs*/ |
| bwang | 15:b583cd30b063 | 5 | #define POLE_PAIRS 3.0f |
| bwang | 39:80b38a8e1787 | 6 | |
| bwang | 39:80b38a8e1787 | 7 | /*mechanical position offset, |
| bwang | 39:80b38a8e1787 | 8 | measured as +a, -b, -c (radians)*/ |
| bwang | 24:5e18a87a0e95 | 9 | #define POS_OFFSET 5.88f |
| bwang | 39:80b38a8e1787 | 10 | |
| bwang | 39:80b38a8e1787 | 11 | /*# of resolver lobes*/ |
| bwang | 15:b583cd30b063 | 12 | #define RESOLVER_LOBES 3.0f |
| bwang | 39:80b38a8e1787 | 13 | |
| bwang | 39:80b38a8e1787 | 14 | /*CPR of encoder or encoder emulator*/ |
| bwang | 15:b583cd30b063 | 15 | #define CPR 4096 |
| bwang | 29:50e6e4e46580 | 16 | |
| bwang | 39:80b38a8e1787 | 17 | /*d and q axis inductances, henries*/ |
| bwang | 39:80b38a8e1787 | 18 | #define Ld 0.000876f |
| bwang | 39:80b38a8e1787 | 19 | #define Lq 0.002068f |
| bwang | 30:c25c5bf0d951 | 20 | |
| bwang | 39:80b38a8e1787 | 21 | /*PM flux linkage, volt-seconds*/ |
| bwang | 39:80b38a8e1787 | 22 | #define FLUX_LINKAGE 0.06f |
| bwang | 39:80b38a8e1787 | 23 | |
| bwang | 42:030e0ec4eac5 | 24 | /*torque/phase amp for approximate models*/ |
| bwang | 42:030e0ec4eac5 | 25 | #define KT 0.3f |
| bwang | 42:030e0ec4eac5 | 26 | |
| bwang | 39:80b38a8e1787 | 27 | /*maximum sane mechanical speed, |
| bwang | 39:80b38a8e1787 | 28 | used to filter velocity (rad/s)*/ |
| bwang | 40:22aede3d096f | 29 | #define W_CRAZY 1500.0f |
| bwang | 29:50e6e4e46580 | 30 | |
| bwang | 15:b583cd30b063 | 31 | #define PI 3.141593f |
| bwang | 15:b583cd30b063 | 32 | |
| bwang | 15:b583cd30b063 | 33 | #endif |