From d14105dbe5af076fab5235c7be2ce04a2bffe85b Mon Sep 17 00:00:00 2001 From: dzid26 Date: Fri, 1 Dec 2023 23:28:25 +0000 Subject: [PATCH] Fixed default gear ratio value precision --- firmware/src/BSP/actuator_config.c | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/firmware/src/BSP/actuator_config.c b/firmware/src/BSP/actuator_config.c index d798d07..e5480e8 100644 --- a/firmware/src/BSP/actuator_config.c +++ b/firmware/src/BSP/actuator_config.c @@ -29,8 +29,8 @@ float volatile gearing_ratio; float volatile actuatorTq_to_current; float volatile current_to_actuatorTq; -//todo move these parameters to NVRAM -//specify motor parameters here: +// todo move these parameters to NVRAM +// specify motor parameters here: const uint16_t rated_current = 1300; //mA const uint16_t rated_torque = 45; //cNm @@ -39,9 +39,9 @@ const uint16_t phase_L = 3; //Henry const uint16_t motor_k_bemf = 1765; // mV/(rev/s) -//specify gearing parameters here: -const float motor_gearbox_ratio = 5+2/11; //gearbox ratio - enter planetary gearbox tooth calculation for best accuracy -const float final_drive_ratio = 2; //assembly gearing ratio +// specify gearing parameters here: +const float motor_gearbox_ratio = 5.0F+(2.0F/11.0F); // gearbox ratio - enter planetary gearbox tooth calculation for best accuracy +const float final_drive_ratio = 2.0F; // assembly gearing ratio const int8_t anticogging_factor = 30; //minimizes cogging under load (0-127) @@ -51,6 +51,6 @@ void update_actuator_parameters(void){ actuatorTq_to_current = (float) rated_current / rated_torque * 100 / gearing_ratio; current_to_actuatorTq = 1 / actuatorTq_to_current; - closeLoopMaxDes = 2000U; //sets maximum close loop current [mA] to limit stresses and heat generation + closeLoopMaxDes = 2000U; // posiiton control maximum close loop current [mA] to limit stresses and heat generation } \ No newline at end of file