initial branch commit
This commit is contained in:
Nicolas Trimborn
parent
e533db6ce8
commit
db49ec9cf3
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@ -0,0 +1,23 @@
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## Ignore Atmel Studio temporary files and build results
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# https://www.microchip.com/mplab/avr-support/atmel-studio-7
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# Atmel Studio is powered by an older version of Visual Studio,
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# so most of the project and solution files are the same as VS files,
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# only prefixed by an `at`.
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#Build Directories
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[Dd]ebug/
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[Rr]elease/
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#Build Results
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*.o
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*.d
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*.eep
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*.elf
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*.hex
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*.map
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*.srec
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#User Specific Files
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*.atsuo
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Binary file not shown.
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@ -1011,6 +1011,9 @@
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<Compile Include="main.c">
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<SubType>compile</SubType>
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</Compile>
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<Compile Include="motor_params.h">
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<SubType>compile</SubType>
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</Compile>
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<Compile Include="pins.h">
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<SubType>compile</SubType>
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</Compile>
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@ -79,7 +79,7 @@ void BLDC_init(BLDCMotor_t *motor)
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motor->VdcBus_pu = DEVICE_DC_VOLTAGE_V;
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motor->VoneByDcBus_pu = 1.0f/DEVICE_DC_VOLTAGE_V;
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motor->motor_commutation_Pattern = COMMUTATION_PATTERN;
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motor->motor_commutation_Pattern = COMMUTATION_PATTERN_M1;
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motor->desired_torque = 0.0;
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motor->desired_speed = 0;
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@ -225,7 +225,7 @@ void exec_commutation(void)
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//}
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TCC1->PATTBUF.reg = COMMUTATION_PATTERN[(Motor1.currentHallPattern + Motor1.directionOffset)];
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TCC1->PATTBUF.reg = COMMUTATION_PATTERN_M1[(Motor1.currentHallPattern + Motor1.directionOffset)];
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TCC1->CCBUF->reg = (uint16_t)Motor1.duty_cycle;
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//hri_tcc_write_PATTBUF_reg(TCC1, (COMMUTATION_PATTERN[(Motor1.currentHallPattern + Motor1.directionOffset)]));
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@ -1,234 +1,157 @@
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/*
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* bldc.h
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*
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* Created: 10/03/2021 14:38:14
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* Author: Nick-XMG
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*/
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#ifndef BLDC_H_
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#define BLDC_H_
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// ----------------------------------------------------------------------
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// header files
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// ----------------------------------------------------------------------
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#include "arm_math.h"
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#include "atmel_start.h"
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#include "control.h"
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// ----------------------------------------------------------------------
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// Current Sensor
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// ----------------------------------------------------------------------
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#define DRV_ISEN_A_CH ADC_INPUTCTRL_MUXPOS_AIN2_Val
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#define DRV_ISEN_B_CH ADC_INPUTCTRL_MUXPOS_AIN1_Val
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// ----------------------------------------------------------------------
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// Hall Parameters
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// ----------------------------------------------------------------------
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#define HALL_A_PIN GPIO(GPIO_PORTA, 6)
#define HALL_A_PORT PORT_PA06
#define HALL_A_MASK ~(1<<2)
#define HALL_A_LSR HALL_A_PIN - HALL_A_GROUP*32 -2
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#define HALL_A_GROUP HALL_A_PIN/32
#define HALL_B_PIN GPIO(GPIO_PORTA, 5)
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#define HALL_B_PORT PORT_PA05
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#define HALL_B_MASK ~(1<<1)
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#define HALL_B_LSR HALL_B_PIN - HALL_B_GROUP*32 -1
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#define HALL_B_GROUP HALL_B_PIN/32
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#define HALL_C_PIN GPIO(GPIO_PORTA, 4)
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#define HALL_C_PORT PORT_PA04
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#define HALL_C_MASK ~(1<<0)
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#define HALL_C_LSR HALL_C_PIN - HALL_C_GROUP*32 -0
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#define HALL_C_GROUP HALL_C_PIN/32
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/* if the Hall sensor reads 0x0 or 0x7 that means either one of the hall sensor is damaged or disconnected*/
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#define INVALID_HALL_0 (0U)
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#define INVALID_HALL_7 (7U)
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// ----------------------------------------------------------------------
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// ADC Parameters
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// ----------------------------------------------------------------------
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#define ADC_VOLTAGE_REFERENCE (3.3f)
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#define ADC_RESOLUTION (12)
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#define ADC_MAX_COUNTS (1<<ADC_RESOLUTION)
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#define ADC_LSB_SIZE (ADC_VOLTAGE_REFERENCE/ADC_MAX_COUNTS)
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// ----------------------------------------------------------------------
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// Motor Parameters
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// ----------------------------------------------------------------------
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// these values fit for an Faulhaber 3216W024BXTR motor
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#define MOTOR_POLES (14U)
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#define MOTOR_POLEPAIRS (MOTOR_POLES/2)
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#define MOTOR_COMUTATION_STATES (MOTOR_POLEPAIRS*6)
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#define MOTOR_RS_OHM (3.37f)
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#define MOTOR_LD_H (0.001290f)
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#define MOTOR_LQ_H (0.001290f)
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#define MOTOR_FLUX_WB (0.0063879968f)
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#define MOTOR_MAX_SPD_RPM (4200.0f)
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#define MOTOR_MAX_SPD_ELEC ((MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS)
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#define MOTOR_MEASURINGRANGE_RPM (1.2f * MOTOR_MAX_SPD_RPM)f // give 20% headroom
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#define MOTOR_MAX_CURRENT_IDC_A (1.2f)
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#define PWM_TOP 1000
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#define MAX_PWM 700
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#define MAX_VEL 3800
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#define CW 0 //CBA
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#define DIRECTION_CW_OFFSET 0 //CBA
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#define CCW 1 //ABC
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#define DIRECTION_CCW_OFFSET 8 //CBA
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#define AVERAGE_SPEED_MEASURE
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#define COUNTEQUIVTO25RPM 892857142
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#define n_SAMPLE 8
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static uint32_t speed_average = 0;
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static uint8_t count = 1;
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// ----------------------------------------------------------------------
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// Define the control and PWM frequencies:
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// ----------------------------------------------------------------------
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// 16kHz is the maximum frequency according to the calculation duration in the mode run and spin.
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#define DEVICE_MCU_FREQUENCY_Hz (100000000U)
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#define DEVICE_SPEEDTC_DIV (4U)
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#define DEVICE_SPEEDTC_FREQUENCY_Hz (100000000U/DEVICE_SPEEDTC_DIV)
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#define DEVICE_PWM_FREQUENCY_kHz (25.0f)
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#define DEVICE_ISR_FREQUENCY_kHz DEVICE_PWM_FREQUENCY_kHz
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#define DEVICE_ISR_PERIOD_Sec (0.001f/DEVICE_ISR_FREQUENCY_kHz)
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// ----------------------------------------------------------------------
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// Define the device quantities (voltage, current, speed)
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// ----------------------------------------------------------------------
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#define DEVICE_DC_VOLTAGE_V 24.0f // max. ADC bus voltage(PEAK) [V]
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#define DEVICE_SHUNT_CURRENT_A 2.5f // phase current(PEAK) [A]
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#define CURRENT_SENSOR_SENSITIVITY 0.4f //V/A
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#define ONEON_CURRENT_SENSOR_SENSITIVITY 2.5f //V/A
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// ----------------------------------------------------------------------
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// global variables
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// ----------------------------------------------------------------------
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volatile typedef struct
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{
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volatile float32_t A; // Phase A
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volatile float32_t B; // Phase B
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volatile float32_t C; // Phase C
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volatile float32_t Bus; // Currently Active Phase Current
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} MOTOR_3PHASES_t;
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volatile typedef struct
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{
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volatile int16_t A; // Phase A measured offset
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volatile int16_t B; // Phase B measured offset
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} MOTOR_phase_offset_t;
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volatile typedef struct timerflags
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{
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volatile bool pwm_cycle_tic;
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volatile bool current_loop_tic;
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volatile bool control_loop_tic; //! Is motor synchronized? Does not have any meaning when motorStopped is TRUE.
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volatile bool motor_telemetry_flag;
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} TIMERflags_t;
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volatile typedef struct
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{
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volatile PI_t Pi_Idc;
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volatile PID_t Pid_Speed;
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volatile PI_t Pi_Pos;
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} MOTOR_Control_Structs;
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volatile typedef struct BLDCmotor
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{
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/* Hardware */
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const Tcc * hw;
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uint16_t * motor_commutation_Pattern;
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/* Status */
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volatile uint8_t actualDirection; //! The actual direction of rotation.
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volatile uint8_t desiredDirection; //! The desired direction of rotation.
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volatile uint16_t duty_cycle;
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volatile float32_t calc_rpm;
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volatile int32_t Num_Steps; // Total Step Count
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/* Commutation State */
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volatile uint8_t cur_comm_step;
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volatile uint8_t prev_comm_step;
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/* Hall States */
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volatile uint8_t prevHallPattern;
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volatile uint8_t currentHallPattern;
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volatile uint8_t nextHallPattern;
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volatile uint8_t dir_hall_code; //DIR_ABC
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volatile uint8_t directionOffset;
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/* Measured Values */
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volatile MOTOR_3PHASES_t Iphase_pu;
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volatile MOTOR_phase_offset_t Voffset_lsb;
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volatile float32_t VdcBus_pu;
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volatile float32_t VoneByDcBus_pu;
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/* Motor Flags */
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volatile TIMERflags_t timerflags;
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volatile uint8_t regulation_loop_count;
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/* Controllers */
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volatile MOTOR_Control_Structs controllers;
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/* Setpoints */
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volatile float32_t desired_torque;
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volatile int16_t desired_speed;
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volatile int16_t desired_position;
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volatile float32_t max_current;
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volatile float32_t max_torque;
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volatile int16_t max_velocity;
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} BLDCMotor_t;
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// ----------------------------------------------------------------------
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// global variables
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// ----------------------------------------------------------------------
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static const uint8_t HALL_PATTERN_ARRAY[16] = {0, 5, 3, 1, 6, 4, 2, 0, 0, 3, 6, 2, 5, 1, 4, 0 };
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static const uint8_t MOTOR_COMMUTATION_STEPS[8] = {20,1,3,2,5,6,4,20};
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static const uint16_t COMMUTATION_PATTERN[] = {
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0x00FC, // invalid state (0)
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0x30F8, // CB_CW (1)
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0x50F4, // CA_CW (2)
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0x60F8, // BA_CW (3)
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0x607C, // AB_CW (4)
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0x507C, // BC_CW (5)
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0x30F4, // AC_CW (6)
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0x00FC, // invalid state
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0x00FC, // invalid state
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0x30F4, // BC_CCW (9)
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0x507C, // AB_CCW (10)
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0x607C, // AC_CCW (11)
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0x60F8, // CA_CCW (12)
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0x50F4, // BA_CCW (13)
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0x30F8, // CB_CCW (14)
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0x00FC
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};//Based on Hall State Dir_A_B_C
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volatile BLDCMotor_t Motor1;
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// ----------------------------------------------------------------------
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// all controller objects, variables and helpers:
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// ----------------------------------------------------------------------
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//volatile PI_t Pi_Idc;
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//volatile PI_t Pi_Speed;
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// ----------------------------------------------------------------------
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// functions
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// ----------------------------------------------------------------------
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void select_active_phase(BLDCMotor_t *Motor, uint8_t hall_state);
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void BLDC_init(BLDCMotor_t *motor);
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void read_zero_current_offset_value(void);
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int32_t adc_sync_read_channel(struct adc_async_descriptor *const descr, const uint8_t channel, uint8_t *const buffer, const uint16_t length);
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static uint16_t adc_read(struct adc_async_descriptor *const descr, const uint8_t channel);
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void exec_commutation(void);
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uint8_t get_dir_hall_code(void);
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uint8_t get_hall_state(void);
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uint8_t HALLPatternGet(void);
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uint8_t PDEC_HALLPatternGet(void);
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void calculate_motor_speed(void);
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/*
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* bldc.h
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*
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* Created: 10/03/2021 14:38:14
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* Author: Nick-XMG
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*/
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#ifndef BLDC_H_
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#define BLDC_H_
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// ----------------------------------------------------------------------
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// header files
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// ----------------------------------------------------------------------
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#include "arm_math.h"
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#include "atmel_start.h"
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#include "control.h"
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#include "motor_params.h"
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/* if the Hall sensor reads 0x0 or 0x7 that means either one of the hall sensor is damaged or disconnected*/
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#define INVALID_HALL_0 (0U)
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#define INVALID_HALL_7 (7U)
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// ----------------------------------------------------------------------
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// ADC Parameters
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// ----------------------------------------------------------------------
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#define ADC_VOLTAGE_REFERENCE (3.3f)
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#define ADC_RESOLUTION (12)
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#define ADC_MAX_COUNTS (1<<ADC_RESOLUTION)
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#define ADC_LSB_SIZE (ADC_VOLTAGE_REFERENCE/ADC_MAX_COUNTS)
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// ----------------------------------------------------------------------
|
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// Define the control and PWM frequencies:
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// ----------------------------------------------------------------------
|
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// 16kHz is the maximum frequency according to the calculation duration in the mode run and spin.
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#define DEVICE_MCU_FREQUENCY_Hz (100000000U)
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#define DEVICE_SPEEDTC_DIV (4U)
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#define DEVICE_SPEEDTC_FREQUENCY_Hz (100000000U/DEVICE_SPEEDTC_DIV)
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#define DEVICE_PWM_FREQUENCY_kHz (25.0f)
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#define DEVICE_ISR_FREQUENCY_kHz DEVICE_PWM_FREQUENCY_kHz
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#define DEVICE_ISR_PERIOD_Sec (0.001f/DEVICE_ISR_FREQUENCY_kHz)
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// ----------------------------------------------------------------------
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// Define the device quantities (voltage, current, speed)
|
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// ----------------------------------------------------------------------
|
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#define DEVICE_DC_VOLTAGE_V 24.0f // max. ADC bus voltage(PEAK) [V]
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#define DEVICE_SHUNT_CURRENT_A 2.5f // phase current(PEAK) [A]
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#define CURRENT_SENSOR_SENSITIVITY 0.4f //V/A
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#define ONEON_CURRENT_SENSOR_SENSITIVITY 2.5f //V/A
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// ----------------------------------------------------------------------
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// global variables
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// ----------------------------------------------------------------------
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volatile typedef struct
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{
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volatile float32_t A; // Phase A
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volatile float32_t B; // Phase B
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volatile float32_t C; // Phase C
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volatile float32_t Bus; // Currently Active Phase Current
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} MOTOR_3PHASES_t;
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volatile typedef struct
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{
|
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volatile int16_t A; // Phase A measured offset
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volatile int16_t B; // Phase B measured offset
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} MOTOR_phase_offset_t;
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|
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volatile typedef struct timerflags
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||||
{
|
||||
volatile bool pwm_cycle_tic;
|
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volatile bool current_loop_tic;
|
||||
volatile bool control_loop_tic; //! Is motor synchronized? Does not have any meaning when motorStopped is TRUE.
|
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volatile bool motor_telemetry_flag;
|
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} TIMERflags_t;
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||||
|
||||
volatile typedef struct
|
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{
|
||||
volatile PI_t Pi_Idc;
|
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volatile PID_t Pid_Speed;
|
||||
volatile PI_t Pi_Pos;
|
||||
} MOTOR_Control_Structs;
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|
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volatile typedef struct BLDCmotor
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{
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/* Hardware */
|
||||
const Tcc *hw;
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uint16_t *motor_commutation_Pattern;
|
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/* Status */
|
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volatile uint8_t actualDirection; //! The actual direction of rotation.
|
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volatile uint8_t desiredDirection; //! The desired direction of rotation.
|
||||
volatile uint16_t duty_cycle;
|
||||
volatile float32_t calc_rpm;
|
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volatile int32_t Num_Steps; // Total Step Count
|
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/* Commutation State */
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volatile uint8_t cur_comm_step;
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volatile uint8_t prev_comm_step;
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/* Hall States */
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volatile uint8_t prevHallPattern;
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volatile uint8_t currentHallPattern;
|
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volatile uint8_t nextHallPattern;
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||||
volatile uint8_t dir_hall_code; //DIR_ABC
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||||
volatile uint8_t directionOffset;
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/* Measured Values */
|
||||
volatile MOTOR_3PHASES_t Iphase_pu;
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volatile MOTOR_phase_offset_t Voffset_lsb;
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volatile float32_t VdcBus_pu;
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volatile float32_t VoneByDcBus_pu;
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||||
/* Motor Flags */
|
||||
volatile TIMERflags_t timerflags;
|
||||
volatile uint8_t regulation_loop_count;
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/* Controllers */
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||||
volatile MOTOR_Control_Structs controllers;
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||||
/* Setpoints */
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||||
volatile float32_t desired_torque;
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||||
volatile int16_t desired_speed;
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volatile int16_t desired_position;
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volatile float32_t max_current;
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volatile float32_t max_torque;
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volatile int16_t max_velocity;
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} BLDCMotor_t;
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// ----------------------------------------------------------------------
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||||
// global variables
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||||
// ----------------------------------------------------------------------
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||||
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static const uint8_t HALL_PATTERN_ARRAY[16] = {0, 5, 3, 1, 6, 4, 2, 0, 0, 3, 6, 2, 5, 1, 4, 0 };
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static const uint8_t MOTOR_COMMUTATION_STEPS[8] = {20,1,3,2,5,6,4,20};
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||||
|
||||
volatile BLDCMotor_t Motor1;
|
||||
|
||||
// ----------------------------------------------------------------------
|
||||
// all controller objects, variables and helpers:
|
||||
// ----------------------------------------------------------------------
|
||||
|
||||
|
||||
// ----------------------------------------------------------------------
|
||||
// functions
|
||||
// ----------------------------------------------------------------------
|
||||
void select_active_phase(BLDCMotor_t *Motor, uint8_t hall_state);
|
||||
void BLDC_init(BLDCMotor_t *motor);
|
||||
void read_zero_current_offset_value(void);
|
||||
int32_t adc_sync_read_channel(struct adc_async_descriptor *const descr, const uint8_t channel, uint8_t *const buffer, const uint16_t length);
|
||||
static uint16_t adc_read(struct adc_async_descriptor *const descr, const uint8_t channel);
|
||||
void exec_commutation(void);
|
||||
uint8_t get_dir_hall_code(void);
|
||||
uint8_t get_hall_state(void);
|
||||
|
||||
uint8_t HALLPatternGet(void);
|
||||
uint8_t PDEC_HALLPatternGet(void);
|
||||
void calculate_motor_speed(void);
|
||||
void DisableGateDrivers(BLDCMotor_t *motor);
|
||||
void BLDC_runSpeedCntl(BLDCMotor_t *motor, volatile float speedfbk, volatile float speedRef);
|
||||
void BLDC_runSpeedCntl(BLDCMotor_t *motor, volatile float speedfbk, volatile float speedRef);
|
||||
void BLDC_runCurrentCntl(BLDCMotor_t *motor, volatile float curfbk, volatile float curRef);
|
||||
void BLDC_runPosCntl(BLDCMotor_t *motor, int16_t posfbk, int16_t posRef);
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||||
|
||||
void BLDC_runPosCntl(BLDCMotor_t *motor, int16_t posfbk, int16_t posRef);
|
||||
|
||||
#endif /* BLDC_H_ */
|
||||
|
|
@ -0,0 +1,126 @@
|
|||
/*
|
||||
* motor_params.h
|
||||
*
|
||||
* Created: 28/04/2021 09:13:40
|
||||
* Author: Nick-XMG
|
||||
*/
|
||||
|
||||
|
||||
#ifndef MOTOR_PARAMS_H_
|
||||
#define MOTOR_PARAMS_H_
|
||||
|
||||
// ----------------------------------------------------------------------
|
||||
// Current Sensor
|
||||
// ----------------------------------------------------------------------
|
||||
|
||||
#define DRV_ISEN_A_CH ADC_INPUTCTRL_MUXPOS_AIN2_Val
|
||||
#define DRV_ISEN_B_CH ADC_INPUTCTRL_MUXPOS_AIN1_Val
|
||||
|
||||
// ----------------------------------------------------------------------
|
||||
// Hall Parameters
|
||||
// ----------------------------------------------------------------------
|
||||
|
||||
#define HALL_A_PIN GPIO(GPIO_PORTA, 6)
#define HALL_A_PORT PORT_PA06
#define HALL_A_MASK ~(1<<2)
#define HALL_A_LSR HALL_A_PIN - HALL_A_GROUP*32 -2
|
||||
#define HALL_A_GROUP HALL_A_PIN/32
#define HALL_B_PIN GPIO(GPIO_PORTA, 5)
|
||||
#define HALL_B_PORT PORT_PA05
|
||||
#define HALL_B_MASK ~(1<<1)
|
||||
#define HALL_B_LSR HALL_B_PIN - HALL_B_GROUP*32 -1
|
||||
#define HALL_B_GROUP HALL_B_PIN/32
|
||||
|
||||
#define HALL_C_PIN GPIO(GPIO_PORTA, 4)
|
||||
#define HALL_C_PORT PORT_PA04
|
||||
#define HALL_C_MASK ~(1<<0)
|
||||
#define HALL_C_LSR HALL_C_PIN - HALL_C_GROUP*32 -0
|
||||
#define HALL_C_GROUP HALL_C_PIN/32
|
||||
|
||||
// ----------------------------------------------------------------------
|
||||
// Motor Parameters
|
||||
// ----------------------------------------------------------------------
|
||||
// these values fit for an Faulhaber 3216W024BXTR motor
|
||||
#define MOTOR_POLES (14U)
|
||||
#define MOTOR_POLEPAIRS (MOTOR_POLES/2)
|
||||
#define MOTOR_COMUTATION_STATES (MOTOR_POLEPAIRS*6)
|
||||
#define MOTOR_RS_OHM (3.37f)
|
||||
#define MOTOR_LD_H (0.001290f)
|
||||
#define MOTOR_LQ_H (0.001290f)
|
||||
#define MOTOR_FLUX_WB (0.0063879968f)
|
||||
#define MOTOR_MAX_SPD_RPM (4200.0f)
|
||||
#define MOTOR_MAX_SPD_ELEC ((MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS)
|
||||
#define MOTOR_MEASURINGRANGE_RPM (1.2f * MOTOR_MAX_SPD_RPM)f // give 20% headroom
|
||||
#define MOTOR_MAX_CURRENT_IDC_A (1.2f)
|
||||
|
||||
#define PWM_TOP 1000
|
||||
#define MAX_PWM 700
|
||||
#define MAX_VEL 3800
|
||||
|
||||
#define CW 0 //CBA
|
||||
#define DIRECTION_CW_OFFSET 0 //CBA
|
||||
#define CCW 1 //ABC
|
||||
#define DIRECTION_CCW_OFFSET 8 //CBA
|
||||
|
||||
#define AVERAGE_SPEED_MEASURE
|
||||
#define COUNTEQUIVTO25RPM 892857142
|
||||
#define n_SAMPLE 8
|
||||
static uint32_t speed_average = 0;
|
||||
static uint8_t count = 1;
|
||||
|
||||
|
||||
|
||||
static const uint16_t COMMUTATION_PATTERN_M1[] = {
|
||||
0x00FC, // invalid state (0)
|
||||
0x30F8, // CB_CW (1)
|
||||
0x50F4, // CA_CW (2)
|
||||
0x60F8, // BA_CW (3)
|
||||
0x607C, // AB_CW (4)
|
||||
0x507C, // BC_CW (5)
|
||||
0x30F4, // AC_CW (6)
|
||||
0x00FC, // invalid state
|
||||
0x00FC, // invalid state
|
||||
0x30F4, // BC_CCW (9)
|
||||
0x507C, // AB_CCW (10)
|
||||
0x607C, // AC_CCW (11)
|
||||
0x60F8, // CA_CCW (12)
|
||||
0x50F4, // BA_CCW (13)
|
||||
0x30F8, // CB_CCW (14)
|
||||
0x00FC
|
||||
};
|
||||
|
||||
static const uint16_t COMMUTATION_PATTERN_M2[] = {
|
||||
0x00FC, // invalid state (0)
|
||||
0x30F8, // CB_CW (1)
|
||||
0x50F4, // CA_CW (2)
|
||||
0x60F8, // BA_CW (3)
|
||||
0x607C, // AB_CW (4)
|
||||
0x507C, // BC_CW (5)
|
||||
0x30F4, // AC_CW (6)
|
||||
0x00FC, // invalid state
|
||||
0x00FC, // invalid state
|
||||
0x30F4, // BC_CCW (9)
|
||||
0x507C, // AB_CCW (10)
|
||||
0x607C, // AC_CCW (11)
|
||||
0x60F8, // CA_CCW (12)
|
||||
0x50F4, // BA_CCW (13)
|
||||
0x30F8, // CB_CCW (14)
|
||||
0x00FC
|
||||
};
|
||||
|
||||
static const uint16_t COMMUTATION_PATTERN_M3[] = {
|
||||
0x00FC, // invalid state (0)
|
||||
0x30F8, // CB_CW (1)
|
||||
0x50F4, // CA_CW (2)
|
||||
0x60F8, // BA_CW (3)
|
||||
0x607C, // AB_CW (4)
|
||||
0x507C, // BC_CW (5)
|
||||
0x30F4, // AC_CW (6)
|
||||
0x00FC, // invalid state
|
||||
0x00FC, // invalid state
|
||||
0x30F4, // BC_CCW (9)
|
||||
0x507C, // AB_CCW (10)
|
||||
0x607C, // AC_CCW (11)
|
||||
0x60F8, // CA_CCW (12)
|
||||
0x50F4, // BA_CCW (13)
|
||||
0x30F8, // CB_CCW (14)
|
||||
0x00FC
|
||||
};
|
||||
|
||||
#endif /* MOTOR_PARAMS_H_ */
|
||||
Loading…
Reference in New Issue