removed K_bemf and added KV_rating

Author: askuric

src/BLDCMotor.cpp

@@ -13,7 +13,7 @@ BLDCMotor::BLDCMotor(int pp, float _R, float _KV)
   // save phase resistance number
   phase_resistance = _R;
   // save back emf constant KV = 1/KV
-  K_bemf = _isset(_KV) ? 1.0f/_KV/_RPM_TO_RADS : NOT_SET;
+  KV_rating = _KV;
 
   // torque control type is voltage by default
   torque_controller = TorqueControlType::voltage;
@@ -344,9 +344,9 @@ void BLDCMotor::move(float new_target) {
   if(!enabled) return;
   // set internal target variable
   if(_isset(new_target)) target = new_target;
-
-  // calculate the back-emf voltage if K_bemf available
-  if (_isset(K_bemf)) voltage_bemf = K_bemf*shaft_velocity;
+  
+  // calculate the back-emf voltage if KV_rating available U_bemf = vel*(1/KV)
+  if (_isset(KV_rating)) voltage_bemf = shaft_velocity/KV_rating/_RPM_TO_RADS;
   // estimate the motor current if phase reistance available and current_sense not available
   if(!current_sense && _isset(phase_resistance)) current.q = (voltage.q - voltage_bemf)/phase_resistance;
 

src/StepperMotor.cpp

@@ -13,8 +13,8 @@ StepperMotor::StepperMotor(int pp, float _R, float _KV)
   pole_pairs = pp;
   // save phase resistance number
   phase_resistance = _R;
-  // save back emf constant KV = 1/KV
-  K_bemf = _isset(_KV) ? 1.0f/_KV/_RPM_TO_RADS : NOT_SET;
+  // save back emf constant KV = 1/K_bemf
+  KV_rating = _KV;
 
   // torque control type is voltage by default
   // current and foc_current not supported yet
@@ -282,8 +282,8 @@ void StepperMotor::move(float new_target) {
   // set internal target variable
   if(_isset(new_target) ) target = new_target;
 
-  // calculate the back-emf voltage if K_bemf available
-  if (_isset(K_bemf)) voltage_bemf = K_bemf*shaft_velocity;
+  // calculate the back-emf voltage if KV_rating available U_bemf = vel*(1/KV)
+  if (_isset(KV_rating)) voltage_bemf = shaft_velocity/KV_rating/_RPM_TO_RADS;
   // estimate the motor current if phase reistance available and current_sense not available
   if(!current_sense && _isset(phase_resistance)) current.q = (voltage.q - voltage_bemf)/phase_resistance;
 

src/common/base_classes/FOCMotor.h

@@ -161,7 +161,7 @@ class FOCMotor
     // motor physical parameters
     float	phase_resistance; //!< motor phase resistance
     int pole_pairs;//!< motor pole pairs number
-    float K_bemf; //!< motor back emf constant (1/KV)
+    float KV_rating; //!< motor KV rating
 
     // limiting variables
     float voltage_limit; //!< Voltage limitting variable - global limit

src/communication/Commander.cpp

@@ -224,9 +224,9 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
     case CMD_KV_RATING:
       printVerbose(F("Motor KV: "));
       if(!GET){
-        motor->K_bemf = 1.0f/value/_RPM_TO_RADS;
+        motor->KV_rating = value;
       }
-      if(_isset(motor->K_bemf)) println(1.0f/motor->K_bemf/_RPM_TO_RADS);
+      if(_isset(motor->KV_rating)) println(motor->KV_rating);
       else println(0);
       break;
     case CMD_SENSOR: