Bayley Wang
robot
config_motor.h@36:cac9785c91cb, 2016-11-27 (annotated)
- Committer:
- bwang
- Date:
- Sun Nov 27 09:10:09 2016 +0000
- Revision:
- 36:cac9785c91cb
- Parent:
- 33:93a0d621a095
- Child:
- 37:ba7ebf4f8a78
working gokart, stubs for maximum torque per amp based on torque, converting to mpta based on total phase current
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 | 15:b583cd30b063 | 4 | #define POLE_PAIRS 3.0f |
| bwang | 24:5e18a87a0e95 | 5 | #define POS_OFFSET 5.88f |
| bwang | 15:b583cd30b063 | 6 | #define RESOLVER_LOBES 3.0f |
| bwang | 15:b583cd30b063 | 7 | #define CPR 4096 |
| bwang | 29:50e6e4e46580 | 8 | |
| bwang | 32:b31423041c4e | 9 | #define Ld 0.000876f //Henries |
| bwang | 32:b31423041c4e | 10 | #define Lq 0.002068f |
| bwang | 33:93a0d621a095 | 11 | #define FLUX_LINKAGE 0.1f //Vs |
| bwang | 30:c25c5bf0d951 | 12 | |
| bwang | 36:cac9785c91cb | 13 | #define KT 0.6f //Nm/A -- filler value until the LUT is made |
| bwang | 30:c25c5bf0d951 | 14 | |
| bwang | 29:50e6e4e46580 | 15 | #define IPHASE_MOTOR_LIMIT 200.0f |
| bwang | 29:50e6e4e46580 | 16 | #define W_LIMIT 1000.0f |
| bwang | 29:50e6e4e46580 | 17 | |
| bwang | 15:b583cd30b063 | 18 | #define PI 3.141593f |
| bwang | 15:b583cd30b063 | 19 | |
| bwang | 15:b583cd30b063 | 20 | #endif |