#ifndef _MOTOR_PARAM_H__
#define _MOTOR_PARAM_H__

#if 0
#define MOTOR_R   0.33f
#define MOTOR_Ld   0.00136f
#define MOTOR_Lq   0.00136f
#define MOTOR_POLES     2
#else
//编码器电机 3505
#define MOTOR_R 0.08f
#define MOTOR_Ld 0.000032f
#define MOTOR_Lq 0.000032f
#define MOTOR_POLES  10
#endif

/* 编码器参数      */
#define ENC_MAX_RES  4096
/*min. 490 Hz, max 603 Hz*/
#define ENC_PWM_Max_P (1.0f/490.0f)
#define ENC_PWM_Min_P (1.0f/603.0f)

#define ENC_PWM_MAX_RES 4119.0F
#define ENC_PWM_INIT_WIDTH 12.0F //PWM 起始宽度
#define ENC_PWM_ERROR_WIDTH 4.0f //PWM 指示错误的宽度
#define ENC_PWM_END_WIDTH   0.0F
#define ENC_PWM_Error_P (ENC_PWM_INIT_WIDTH/ENC_PWM_MAX_RES)
#define ENC_PWM_MIN_duty ((ENC_PWM_INIT_WIDTH + ENC_PWM_ERROR_WIDTH + ENC_PWM_END_WIDTH)/ENC_PWM_MAX_RES)

#define ENC_Duty_2_Pluse_Nr(duty) (duty * ENC_PWM_MAX_RES - (ENC_PWM_INIT_WIDTH + ENC_PWM_ERROR_WIDTH + ENC_PWM_END_WIDTH)) //通过占空比计算有几个脉冲
#define ENC_Pluse_Nr_2_angle(Nr) (360.0f/(float)ENC_MAX_RES * (Nr))


#endif /* _MOTOR_PARAM_H__ */