user_j1.h

/*
 * ===========================================================================
 * This file contains configuation for the motor on J1 when using SINGLE MOTOR
 * applications.
 * ===========================================================================
 *
 */
#ifndef _USER_J1_H_
#define _USER_J1_H_
/* --COPYRIGHT--,BSD
 * Copyright (c) 2015, Texas Instruments Incorporated
 * Copyright (c) 2019, Max Planck Gesellschaft, New York University
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 *
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 *
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 *    notice, this list of conditions and the following disclaimer in the
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//! \file
//! \brief Contains the public interface for user initialization data for the CTRL, HAL, and EST modules 
//!
//! (C) Copyright 2015, Texas Instruments, Inc.
//! (C) Copyright 2019, Max Planck Gesellschaft, New York University


// **************************************************************************
// the includes

//!
//!
//! \defgroup USER USER
//!
//@{


#ifdef __cplusplus
extern "C" {
#endif

// **************************************************************************
// the defines

//! \brief CURRENTS AND VOLTAGES
// **************************************************************************
//! \brief Defines the full scale frequency for IQ variable, Hz
//! \brief All frequencies are converted into (pu) based on the ratio to this value
//! \brief this value MUST be larger than the maximum speed that you are expecting from the motor
#ifndef QEP
#define USER_IQ_FULL_SCALE_FREQ_Hz        (800.0)   // 800 Example with buffer for 8-pole 6 KRPM motor to be run to 10 KRPM with field weakening; Hz =(RPM * Poles) / 120
#else
//#define USER_IQ_FULL_SCALE_FREQ_Hz        (USER_MOTOR_NUM_POLE_PAIRS/0.008)   // (4/0.008) = 500 Example with buffer for 8-pole 6 KRPM motor to be run to 6 KRPM; Hz = (RPM * Poles) / 120
#define USER_IQ_FULL_SCALE_FREQ_Hz        (1310.0)   // value given by the excel spreadsheet
#endif

//! \brief Defines full scale value for the IQ30 variable of Voltage inside the system
//! \brief All voltages are converted into (pu) based on the ratio to this value
//! \brief WARNING: this value MUST meet the following condition: USER_IQ_FULL_SCALE_VOLTAGE_V > 0.5 * USER_MOTOR_MAX_CURRENT * USER_MOTOR_Ls_d * USER_VOLTAGE_FILTER_POLE_rps,
//! \brief WARNING: otherwise the value can saturate and roll-over, causing an inaccurate value
//! \brief WARNING: this value is OFTEN greater than the maximum measured ADC value, especially with high Bemf motors operating at higher than rated speeds
//! \brief WARNING: if you know the value of your Bemf constant, and you know you are operating at a multiple speed due to field weakening, be sure to set this value higher than the expected Bemf voltage
//! \brief It is recommended to start with a value ~3x greater than the USER_ADC_FULL_SCALE_VOLTAGE_V and increase to 4-5x if scenarios where a Bemf calculation may exceed these limits
//! \brief This value is also used to calculate the minimum flux value: USER_IQ_FULL_SCALE_VOLTAGE_V/USER_EST_FREQ_Hz/0.7
#define USER_IQ_FULL_SCALE_VOLTAGE_V      (24.0)   // 24.0 Set to Vbus

//! \brief Defines the maximum voltage at the input to the AD converter
//! \brief The value that will be represented by the maximum ADC input (3.3V) and conversion (0FFFh)
//! \brief Hardware dependent, this should be based on the voltage sensing and scaling to the ADC input
#define USER_ADC_FULL_SCALE_VOLTAGE_V       (44.30)  // BOOSTXL-DRV8305EVM = 44.30 V

//! \brief Defines the full scale current for the IQ variables, A
//! \brief All currents are converted into (pu) based on the ratio to this value
//! \brief WARNING: this value MUST be larger than the maximum current readings that you are expecting from the motor or the reading will roll over to 0, creating a control issue 
#define USER_IQ_FULL_SCALE_CURRENT_A         (24.0) // BOOSTXL-DRV8305EVM = 24.0 A

//! \brief Defines the maximum current at the AD converter
//! \brief The value that will be represented by the maximum ADC input (3.3V) and conversion (0FFFh)
//! \brief Hardware dependent, this should be based on the current sensing and scaling to the ADC input
#define USER_ADC_FULL_SCALE_CURRENT_A        (47.14)  // BOOSTXL-DRV8305EVM = 47.14 A

//! \brief Defines the number of current sensors used
//! \brief Defined by the hardware capability present
//! \brief May be (2) or (3)
#define USER_NUM_CURRENT_SENSORS            (3)   // 3 Preferred setting for best performance across full speed range, allows for 100% duty cycle

//! \brief Defines the number of voltage (phase) sensors
//! \brief Must be (3)
#define USER_NUM_VOLTAGE_SENSORS            (3) // 3 Required

//! \brief ADC current offsets for A, B, and C phases
//! \brief One-time hardware dependent, though the calibration can be done at run-time as well
//! \brief After initial board calibration these values should be updated for your specific hardware so they are available after compile in the binary to be loaded to the controller
//#define   I_A_offset    (1.20)
//#define   I_B_offset    (1.20)
//#define   I_C_offset    (1.20)
#define   I_A_offset    (1.004728198)
#define   I_B_offset    (1.005483985)
#define   I_C_offset    (1.006817698)

//! \brief ADC voltage offsets for A, B, and C phases
//! \brief One-time hardware dependent, though the calibration can be done at run-time as well
//! \brief After initial board calibration these values should be updated for your specific hardware so they are available after compile in the binary to be loaded to the controller
#define   V_A_offset    (0.4910094738)
#define   V_B_offset    (0.4885113835)
#define   V_C_offset    (0.4871017337)


//! \brief CLOCKS & TIMERS
// **************************************************************************
//! \brief Defines the Pulse Width Modulation (PWM) frequency, kHz
//! \brief PWM frequency can be set directly here up to 30 KHz safely (60 KHz MAX in some cases)
//! \brief For higher PWM frequencies (60 KHz+ typical for low inductance, high current ripple motors) it is recommended to use the ePWM hardware
//! \brief and adjustable ADC SOC to decimate the ADC conversion done interrupt to the control system, or to use the software Que example.
//! \brief Otherwise you risk missing interrupts and disrupting the timing of the control state machine
#define USER_PWM_FREQ_kHz                (45.0) //30.0 Example, 8.0 - 30.0 KHz typical; 45-80 KHz may be required for very low inductance, high speed motors

//! \brief Defines the maximum Voltage vector (Vs) magnitude allowed.  This value sets the maximum magnitude for the output of the
//! \brief Id and Iq PI current controllers.  The Id and Iq current controller outputs are Vd and Vq.
//! \brief The relationship between Vs, Vd, and Vq is:  Vs = sqrt(Vd^2 + Vq^2).  In this FOC controller, the
//! \brief Vd value is set equal to USER_MAX_VS_MAG*USER_VD_MAG_FACTOR.  Vq = sqrt(USER_MAX_VS_MAG^2 - Vd^2).
//! \brief Set USER_MAX_VS_MAG = 0.5 for a pure sinewave with a peak at SQRT(3)/2 = 86.6% duty cycle.  No current reconstruction is needed for this scenario.
//! \brief Set USER_MAX_VS_MAG = 1/SQRT(3) = 0.5774 for a pure sinewave with a peak at 100% duty cycle.  Current reconstruction will be needed for this scenario (Lab10a-x).
//! \brief Set USER_MAX_VS_MAG = 2/3 = 0.6666 to create a trapezoidal voltage waveform.  Current reconstruction will be needed for this scenario (Lab10a-x).
//! \brief For space vector over-modulation, see lab 10 for details on system requirements that will allow the SVM generator to go all the way to trapezoidal.
#define USER_MAX_VS_MAG_PU        (0.5)    // Set to 0.5 if a current reconstruction technique is not used.  Look at the module svgen_current in lab10a-x for more info.


//! \brief DECIMATION
// **************************************************************************
//! \brief Defines the number of pwm clock ticks per isr clock tick
//!        Note: Valid values are 1, 2 or 3 only
#define USER_NUM_PWM_TICKS_PER_ISR_TICK        (3)

//! \brief Defines the number of isr ticks (hardware) per controller clock tick (software)
//! \brief Controller clock tick (CTRL) is the main clock used for all timing in the software
//! \brief Typically the PWM Frequency triggers (can be decimated by the ePWM hardware for less overhead) an ADC SOC
//! \brief ADC SOC triggers an ADC Conversion Done
//! \brief ADC Conversion Done triggers ISR
//! \brief This relates the hardware ISR rate to the software controller rate
//! \brief Typcially want to consider some form of decimation (ePWM hardware, CURRENT or EST) over 16KHz ISR to insure interrupt completes and leaves time for background tasks
#define USER_NUM_ISR_TICKS_PER_CTRL_TICK       (1)      // 2 Example, controller clock rate (CTRL) runs at PWM / 2; ex 30 KHz PWM, 15 KHz control

//! \brief Defines the number of controller clock ticks per current controller clock tick
//! \brief Relationship of controller clock rate to current controller (FOC) rate
#define USER_NUM_CTRL_TICKS_PER_CURRENT_TICK   (1)      // 1 Typical, Forward FOC current controller (Iq/Id/IPARK/SVPWM) runs at same rate as CTRL.

//! \brief Defines the number of controller clock ticks per estimator clock tick
//! \brief Relationship of controller clock rate to estimator (FAST) rate
//! \brief Depends on needed dynamic performance, FAST provides very good results as low as 1 KHz while more dynamic or high speed applications may require up to 15 KHz
#define USER_NUM_CTRL_TICKS_PER_EST_TICK       (1)      // 1 Typical, FAST estimator runs at same rate as CTRL;

//! \brief Defines the number of controller clock ticks per speed controller clock tick
//! \brief Relationship of controller clock rate to speed loop rate
#define USER_NUM_CTRL_TICKS_PER_SPEED_TICK  (15)   // 15 Typical to match PWM, ex: 15KHz PWM, controller, and current loop, 1KHz speed loop

//! \brief Defines the number of controller clock ticks per positon converter clock tick
//! Relationship of controller clock rate to position converter loop rate
//! Decrease this value, if speed estimate given by SpinTAC Positon Converter overflows.
#define USER_NUM_CTRL_TICKS_PER_POSCONV_TICK  (5)   // Should be at least 3kHz to support velocities up to 7500 rpm.

//! \brief Defines the number of controller clock ticks per trajectory clock tick
//! \brief Relationship of controller clock rate to trajectory loop rate
//! \brief Typically the same as the speed rate
#define USER_NUM_CTRL_TICKS_PER_TRAJ_TICK   (15)   // 15 Typical to match PWM, ex: 10KHz controller & current loop, 1KHz speed loop, 1 KHz Trajectory


//! \brief LIMITS
// **************************************************************************
//! \brief Defines the maximum negative current to be applied in Id reference
//! \brief Used in field weakening only, this is a safety setting (e.g. to protect against demagnetization)
//! \brief User must also be aware that overall current magnitude [sqrt(Id^2 + Iq^2)] should be kept below any machine design specifications
#define USER_MAX_NEGATIVE_ID_REF_CURRENT_A     (-0.5 * USER_MOTOR_MAX_CURRENT)   // -0.5 * USER_MOTOR_MAX_CURRENT Example, adjust to meet safety needs of your motor

//! \brief Defines the R/L estimation frequency, Hz
//! \brief User higher values for low inductance motors and lower values for higher inductance
//! \brief motors.  The values can range from 100 to 300 Hz.
#define USER_R_OVER_L_EST_FREQ_Hz (300)               // 300 Default

//! \brief Defines the low speed limit for the flux integrator, pu
//! \brief This is the speed range (CW/CCW) at which the ForceAngle object is active, but only if Enabled
//! \brief Outside of this speed - or if Disabled - the ForcAngle will NEVER be active and the angle is provided by FAST only
//#define USER_ZEROSPEEDLIMIT   (0.5 / USER_IQ_FULL_SCALE_FREQ_Hz)     // 0.002 pu, 1-5 Hz typical; Hz = USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz
#define USER_ZEROSPEEDLIMIT   (1.0 / USER_IQ_FULL_SCALE_FREQ_Hz)     // 0.002 pu, 1-5 Hz typical; Hz = USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz

//! \brief Defines the force angle frequency, Hz
//! \brief Frequency of stator vector rotation used by the ForceAngle object
//! \brief Can be positive or negative
#define USER_FORCE_ANGLE_FREQ_Hz   (2.0 * USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz)      // 1.0 Typical force angle start-up speed


//! \brief POLES
// **************************************************************************
//! \brief Defines the analog voltage filter pole location, Hz
//! \brief Must match the hardware filter for Vph
#define USER_VOLTAGE_FILTER_POLE_Hz  (344.62)   // BOOSTXL-DRV8305 = 344.62 Hz


//! \brief USER MOTOR & ID SETTINGS
// **************************************************************************

//! \brief Defines the default bandwidth for SpinTAC Control
//! \brief This value should be determined by putting SpinTAC Control through a tuning process
//! \brief If a Bandwidth Scale value has been previously identified
//! \brief multiply it by 20 to convert into Bandwidth
#define USER_SYSTEM_BANDWIDTH      (100.0) // tuned in lab 13a

//! \brief Define each motor with a unique name and ID number
// BLDC & SMPM motors
#define Estun_EMJ_04APB22           101
#define Anaheim_BLY172S             102
#define Teknic_M2310PLN04K          104

#define TMotor_Antigravity_4004_300kv 	113
#define TMotor_Antigravity_4006_380kv 	114
#define TMotor_Antigravity_MN7005_115kv 115
// IPM motors
// If user provides separate Ls-d, Ls-q
// else treat as SPM with user or identified average Ls
#define Belt_Drive_Washer_IPM       201

// ACIM motors
#define Marathon_5K33GN2A           301

//! \brief Uncomment the motor which should be included at compile
//! \brief These motor ID settings and motor parameters are then available to be used by the control system
//! \brief Once your ideal settings and parameters are identified update the motor section here so it is available in the binary code
//#define USER_MOTOR Estun_EMJ_04APB22
//#define USER_MOTOR Anaheim_BLY172S
//#define USER_MOTOR Teknic_M2310PLN04K
//#define USER_MOTOR Belt_Drive_Washer_IPM
//#define USER_MOTOR Marathon_5K33GN2A
//#define USER_MOTOR Anaheim_Salient
#define USER_MOTOR TMotor_Antigravity_4004_300kv
//#define USER_MOTOR TMotor_Antigravity_MN7005_115kv



#if (USER_MOTOR == Estun_EMJ_04APB22)                  // Name must match the motor #define
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm  // Motor_Type_Pm (All Synchronous: BLDC, PMSM, SMPM, IPM) or Motor_Type_Induction (Asynchronous ACI)
#define USER_MOTOR_NUM_POLE_PAIRS       (4)            // PAIRS, not total poles. Used to calculate user RPM from rotor Hz only
#define USER_MOTOR_Rr                   (NULL)         // Induction motors only, else NULL
#define USER_MOTOR_Rs                   (2.303403)     // Identified phase to neutral resistance in a Y equivalent circuit (Ohms, float)
#define USER_MOTOR_Ls_d                 (0.008464367)  // For PM, Identified average stator inductance  (Henry, float)
#define USER_MOTOR_Ls_q                 (0.008464367)  // For PM, Identified average stator inductance  (Henry, float)
#define USER_MOTOR_RATED_FLUX           (0.38)         // Identified TOTAL flux linkage between the rotor and the stator (V/Hz)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)         // Induction motors only, else NULL
#define USER_MOTOR_RES_EST_CURRENT      (1.0)          // During Motor ID, maximum current (Amperes, float) used for Rs estimation, 10-20% rated current
#define USER_MOTOR_IND_EST_CURRENT      (-1.0)         // During Motor ID, maximum current (negative Amperes, float) used for Ls estimation, use just enough to enable rotation
#define USER_MOTOR_MAX_CURRENT          (3.82)         // CRITICAL: Used during ID and run-time, sets a limit on the maximum current command output of the provided Speed PI Controller to the Iq controller
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)         // During Motor ID, maximum commanded speed (Hz, float), ~10% rated
#define USER_MOTOR_ENCODER_LINES        (2500.0)       // Number of lines on the motor's quadrature encoder
#define USER_MOTOR_MAX_SPEED_KRPM       (3.0)          // Maximum speed that the motor
#define USER_SYSTEM_INERTIA             (0.02)         // Inertia of the motor & system, should be estimated by SpinTAC Velocity Identify
#define USER_SYSTEM_FRICTION            (0.01)         // Friction of the motor & system, should be estimated by SpinTAC Velocity Identify

#elif (USER_MOTOR == Anaheim_BLY172S)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (4)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.4110007)
#define USER_MOTOR_Ls_d                 (0.0007092811)
#define USER_MOTOR_Ls_q                 (0.0007092811)
#define USER_MOTOR_RATED_FLUX           (0.03279636)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (1.0)
#define USER_MOTOR_IND_EST_CURRENT      (-1.0)
#define USER_MOTOR_MAX_CURRENT          (5.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)
#define USER_MOTOR_ENCODER_LINES        (2000.0)
#define USER_MOTOR_MAX_SPEED_KRPM       (4.0)
#define USER_SYSTEM_INERTIA             (0.02)
#define USER_SYSTEM_FRICTION            (0.01)

#elif (USER_MOTOR == Teknic_M2310PLN04K)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (4)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.3918252)
#define USER_MOTOR_Ls_d                 (0.00023495)
#define USER_MOTOR_Ls_q                 (0.00023495)
#define USER_MOTOR_RATED_FLUX           (0.03955824)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (1.0)
#define USER_MOTOR_IND_EST_CURRENT      (-0.5)
#define USER_MOTOR_MAX_CURRENT          (7.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)
#define USER_MOTOR_ENCODER_LINES        (1000.0)
#define USER_MOTOR_MAX_SPEED_KRPM       (4.0)
#define USER_SYSTEM_INERTIA             (0.02)
#define USER_SYSTEM_FRICTION            (0.01)

#elif (USER_MOTOR == Belt_Drive_Washer_IPM)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (4)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (2.832002)
#define USER_MOTOR_Ls_d                 (0.0115)
#define USER_MOTOR_Ls_q                 (0.0135)
#define USER_MOTOR_RATED_FLUX           (0.5022156)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (1.0)
#define USER_MOTOR_IND_EST_CURRENT      (-1.0)
#define USER_MOTOR_MAX_CURRENT          (4.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)

#elif (USER_MOTOR == Marathon_5K33GN2A)                      // Name must match the motor #define
#define USER_MOTOR_TYPE                 MOTOR_Type_Induction // Motor_Type_Pm (All Synchronous: BLDC, PMSM, SMPM, IPM) or Motor_Type_Induction (Asynchronous ACI)
#define USER_MOTOR_NUM_POLE_PAIRS       (2)                  // PAIRS, not total poles. Used to calculate user RPM from rotor Hz only
#define USER_MOTOR_Rr                   (5.508003)           // Identified phase to neutral in a Y equivalent circuit (Ohms, float)
#define USER_MOTOR_Rs                   (10.71121)           // Identified phase to neutral in a Y equivalent circuit (Ohms, float)
#define USER_MOTOR_Ls_d                 (0.05296588)         // For Induction, Identified average stator inductance  (Henry, float)
#define USER_MOTOR_Ls_q                 (0.05296588)         // For Induction, Identified average stator inductance  (Henry, float)
#define USER_MOTOR_RATED_FLUX           (0.8165*220.0/60.0)  // sqrt(2/3)* Rated V (line-line) / Rated Freq (Hz)
#define USER_MOTOR_MAGNETIZING_CURRENT  (1.378)              // Identified magnetizing current for induction motors, else NULL
#define USER_MOTOR_RES_EST_CURRENT      (0.5)                // During Motor ID, maximum current (Amperes, float) used for Rs estimation, 10-20% rated current
#define USER_MOTOR_IND_EST_CURRENT      (NULL)               // not used for induction
#define USER_MOTOR_MAX_CURRENT          (2.0)                // CRITICAL: Used during ID and run-time, sets a limit on the maximum current command output of the provided Speed PI Controller to the Iq controller
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (5.0)                // During Motor ID, maximum commanded speed (Hz, float). Should always use 5 Hz for Induction.
#define USER_MOTOR_ENCODER_LINES        (2048.0)             // Number of lines on the motor's quadrature encoder
#define USER_MOTOR_MAX_SPEED_KRPM       (1.725)              // Maximum speed that the motor
#define USER_SYSTEM_INERTIA             (0.02)               // Inertia of the motor & system, should be estimated by SpinTAC Velocity Identify
#define USER_SYSTEM_FRICTION            (0.01)               // Friction of the motor & system, should be estimated by SpinTAC Velocity Identify

#elif (USER_MOTOR == TMotor_Antigravity_4004_300kv)

#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (12)
#define USER_MOTOR_Rr                   (0.0)
#define USER_MOTOR_Rs                   (0.2324751)
#define USER_MOTOR_Ls_d                 (0.00014) // A3
#define USER_MOTOR_Ls_q                 (0.00014)
#define USER_MOTOR_RATED_FLUX           (0.009390805)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (3.0)
#define USER_MOTOR_IND_EST_CURRENT      (-3.0)
#define USER_MOTOR_MAX_CURRENT          (9.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (120.0) // Given by excel spreadsheet. Default 20.
#define USER_MOTOR_MAX_SPEED_KRPM       (6.0)

#define USER_MOTOR_ENCODER_LINES		(5000.0)
#define USER_SYSTEM_INERTIA             (0.12937843799591064)  // determined with lab12a
#define USER_SYSTEM_FRICTION            (0.10034477710723877)  // determined with lab12a

#elif (USER_MOTOR == TMotor_Antigravity_4004_300kv)

#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (12)
#define USER_MOTOR_Rr                   (0.0)
#define USER_MOTOR_Rs                   (0.2324751)
#define USER_MOTOR_Ls_d                 (0.00014) // A3
#define USER_MOTOR_Ls_q                 (0.00014)
#define USER_MOTOR_RATED_FLUX           (0.009390805)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (3.0)
#define USER_MOTOR_IND_EST_CURRENT      (-3.0)
#define USER_MOTOR_MAX_CURRENT          (9.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (120.0) // Given by excel spreadsheet. Default 20.
#define USER_MOTOR_MAX_SPEED_KRPM       (6.0)

#define USER_MOTOR_ENCODER_LINES        (5000.0)
#define USER_SYSTEM_INERTIA             (0.12937843799591064)  // determined with lab12a
#define USER_SYSTEM_FRICTION            (0.10034477710723877)  // determined with lab12a 

#elif (USER_MOTOR == TMotor_Antigravity_MN7005_115kv)

#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (14)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.159925)
#define USER_MOTOR_Ls_d                 (0.00005119999) // A3 0.00005391928e-05
#define USER_MOTOR_Ls_q                 (0.00005119999)
#define USER_MOTOR_RATED_FLUX           (0.01285466)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (4.0)
#define USER_MOTOR_IND_EST_CURRENT      (-4.0)
#define USER_MOTOR_MAX_CURRENT          (15.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (120.0) // Given by excel spreadsheet. Default 20.
#define USER_MOTOR_MAX_SPEED_KRPM       (6.0)

#define USER_MOTOR_ENCODER_LINES		(5000.0)
#define USER_SYSTEM_INERTIA             (0.1023780107)  // determined with lab12a
#define USER_SYSTEM_FRICTION            (0.2193766236)  // determined with lab12a  // determined with lab12a

#else
#error No motor type specified
#endif

#ifdef __cplusplus
}
#endif // extern "C"

//@} // ingroup
#endif // end of _USER_J1_H_ definition