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lowish current motor resistance meas config

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Oskar Weigl
2018-04-26 13:46:47 -07:00
parent cb6f2d5143
commit 4420d3873a
2 changed files with 5 additions and 4 deletions
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Firmware/MotorControl/motor.cpp
+2 -1
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@@ -78,7 +78,8 @@ void Motor::DRV8301_setup() {
// 40V/V on 500uOhm gives a range of +/- 75A
// 20V/V on 666uOhm gives a range of +/- 110A
// 40V/V on 666uOhm gives a range of +/- 55A
local_regs->Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_40VpV;
local_regs->Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_80VpV;
// local_regs->Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_40VpV;
// local_regs->Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_20VpV;
switch (local_regs->Ctrl_Reg_2.GAIN) {
Firmware/MotorControl/motor.hpp
+3 -3
View File
@@ -37,9 +37,9 @@ typedef struct {
// example: current_lim and calibration_current will instead determine the maximum voltage applied to the motor.
typedef struct {
bool pre_calibrated = false; // can be set to true to indicate that all values here are valid
int32_t pole_pairs = 7; // This value is correct for N5065 motors and Turnigy SK3 series.
float calibration_current = 10.0f; // [A]
float resistance_calib_max_voltage = 1.0f; // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor.
int32_t pole_pairs = 12;
float calibration_current = 6.0f; // [A]
float resistance_calib_max_voltage = 2.0f; // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor.
float phase_inductance = 0.0f; // to be set by measure_phase_inductance
float phase_resistance = 0.0f; // to be set by measure_phase_resistance
int32_t direction = 1; // 1 or -1