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@@ -8,20 +8,22 @@
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#define MOTOR_Lq (0.000200f*0.5f)
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#define MOTOR_POLES 4
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#define MOTOR_ENC_OFFSET 0.0F
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-
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+#define MOTOR_NR 0x11
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#elif defined MOTOR_BLUESHARK_NEW2
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#define MOTOR_R 0.013f
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#define MOTOR_Ld (0.000140f*0.5f)
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#define MOTOR_Lq (0.000320f*0.5f)
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#define MOTOR_POLES 4
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#define MOTOR_ENC_OFFSET 0.0F
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+#define MOTOR_NR 0x12
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#elif defined MOTOR_BLUESHARK_ZD_100
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#define MOTOR_R 0.008f
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#define MOTOR_Ld (0.000125f*0.5f)
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-#define MOTOR_Lq (0.000910f*0.5f)
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+#define MOTOR_Lq (0.000091f*0.5f)
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#define MOTOR_POLES 5
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-#define MOTOR_ENC_OFFSET 0.0F
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+#define MOTOR_ENC_OFFSET 145.0F
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+#define MOTOR_NR 0x13
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#elif defined MOTOR_BLUESHARK_OLD
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#define MOTOR_R 0.012f
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@@ -29,6 +31,7 @@
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#define MOTOR_Lq (0.000205f*0.5f)
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#define MOTOR_POLES 5
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#define MOTOR_ENC_OFFSET 180.0F
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+#define MOTOR_NR 0x14
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#elif defined MOTOR_3505
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//编码器电机 3505
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@@ -36,6 +39,8 @@
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#define MOTOR_Ld 0.000032f
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#define MOTOR_Lq 0.000032f
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#define MOTOR_POLES 10
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+#define MOTOR_NR 0x15
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+
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#endif
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#endif /* _MOTOR_PARAM_H__ */
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huhui