From 07e80f8397860db93ceb82ab8cc7bc6f30f54ead Mon Sep 17 00:00:00 2001 From: dzid26 Date: Mon, 6 Jan 2025 00:08:02 +0000 Subject: [PATCH] doc: default volt control motor model --- firmware/src/BSP/actuator_config.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/firmware/src/BSP/actuator_config.c b/firmware/src/BSP/actuator_config.c index 0cd810d..811879c 100644 --- a/firmware/src/BSP/actuator_config.c +++ b/firmware/src/BSP/actuator_config.c @@ -19,7 +19,8 @@ const bool USE_SIMPLE_PARAMETERS = true; const float motor_rated_current = (float) 1.3; // A const float motor_rated_torque = (float) 28; // Ncm -// MEASURED PARAMETERS: // todo store these in NVRAM +// MEASURED PARAMETERS: // todo autocalibrate and store in NVRAM +// default are for black 17HS4401S https://www.aliexpress.com/item/4001349087963.html volatile int16_t motor_k_bemf = 1360; // mV/(rev/s) - hold F2 to measure, use MCUViewer to see new motor_k_bemf value and update manually here // note, when motor_k_bemf is too low, the motor can have higher top speed when unloaded (unintentional field weakening via I_d), but power and torque will not be accurate volatile int16_t phase_R = 2400; // mOhm - it's best to measure this