Bayley Wang
/
foc-ed_in_the_bot_compact
robot
config_motor.h
- Committer:
- bwang
- Date:
- 2016-11-05
- Revision:
- 20:91ae97a811e3
- Parent:
- 19:a6cf15f89f3d
- Child:
- 24:5e18a87a0e95
File content as of revision 20:91ae97a811e3:
#ifndef __CONFIG_MOTOR_H #define __CONFIG_MOTOR_H #define POLE_PAIRS 3.0f #define POS_OFFSET 1.49f #define RESOLVER_LOBES 3.0f #define CPR 4096 #define KT 0.3f //Nm/A -- filler value until the LUT is made #define FORWARD_TORQUE_MAX 60.0f #define REVERSE_TORQUE_MAX -20.0f #define W_MAX 1000.0f //max speed, mechanical rad/s #define Q_MAX 50.0f #define PI 3.141593f #endif