From e3627cc8e8c210cef00f6a4141f8ecf770c7a929 Mon Sep 17 00:00:00 2001
From: 0x23 <diffraction.lim@gmail.com>
Date: Tue, 2 Sep 2025 08:21:57 +0200
Subject: [PATCH] motor pole pair count in config

---
 firmware/MotionControllerRP/src/hw_config.h              | 9 ++++++++-
 .../src/kinemtaic_models/kinematic_model_delta3d.cpp     | 2 +-
 firmware/MotionControllerRP/src/robot.cpp                | 6 +++---
 firmware/MotionControllerRP/src/robot.h                  | 1 +
 4 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/firmware/MotionControllerRP/src/hw_config.h b/firmware/MotionControllerRP/src/hw_config.h
index c3f5fb9..181d967 100644
--- a/firmware/MotionControllerRP/src/hw_config.h
+++ b/firmware/MotionControllerRP/src/hw_config.h
@@ -1,3 +1,10 @@
+// motor pole pair count
+//  * 100 for 0.9deg stepper motors
+//  * 50  for 1.8deg stepper motors
+#define MOTOR1_POLE_PAIRS 100
+#define MOTOR2_POLE_PAIRS 100
+#define MOTOR3_POLE_PAIRS 100
+
 // #define SINGLE_AXIS_BOARD
 #ifdef SINGLE_AXIS_BOARD
   // Single Axis Board
@@ -31,7 +38,7 @@
   #define PIN_ENCODER_MOSI 3
 
 #else
-  // 3Axis Board
+  // Pins for 3Axis Board
   #define PIN_BUILTIN_LED 23
   #define PIN_USER_BUTTON 24
 
diff --git a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp b/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp
index fa975a9..85e4fe9 100644
--- a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp
+++ b/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp
@@ -37,7 +37,7 @@ KinematicModel_Delta3D::KinematicModel_Delta3D() {
   ee_attachment_points[2] = Vec3F(-15.0f, 1.5f, 0.5f);
   */
 
-  // set transfomration based on CAD model
+  // set transformation based on CAD model
   actuator_to_base[0].rotation = QuaternionF::from_axis_angle(Vec3F(0.0f, 0.0f, 1.0f), 90.0f*D2R);
   actuator_to_base[0].translation = Vec3F(-42.0f, 0.5f, 32.0f)+base_offset;
 
diff --git a/firmware/MotionControllerRP/src/robot.cpp b/firmware/MotionControllerRP/src/robot.cpp
index 47d94f7..852dbd7 100644
--- a/firmware/MotionControllerRP/src/robot.cpp
+++ b/firmware/MotionControllerRP/src/robot.cpp
@@ -123,7 +123,7 @@ void Robot::init() {
       PIN_MOTOR_EN, PIN_M1_PWM_A_POS, PIN_M1_PWM_A_NEG, PIN_MOTOR_PWMAB,
       PIN_MOTOR_EN, PIN_M1_PWM_B_POS, PIN_M1_PWM_B_NEG, PIN_MOTOR_PWMAB
     );
-    joints[0] = new RobotJoint(encoder, motor_driver, 400/4);
+    joints[0] = new RobotJoint(encoder, motor_driver, MOTOR1_POLE_PAIRS);
   }
 
   // axis 2
@@ -133,7 +133,7 @@ void Robot::init() {
       PIN_MOTOR_EN, PIN_M2_PWM_A_POS, PIN_M2_PWM_A_NEG, PIN_MOTOR_PWMAB,
       PIN_MOTOR_EN, PIN_M2_PWM_B_POS, PIN_M2_PWM_B_NEG, PIN_MOTOR_PWMAB
     );
-    joints[1] = new RobotJoint(encoder, motor_driver, 400/4);
+    joints[1] = new RobotJoint(encoder, motor_driver, MOTOR2_POLE_PAIRS);
   }
 
   // axis 3
@@ -143,7 +143,7 @@ void Robot::init() {
       PIN_MOTOR_EN, PIN_M3_PWM_A_POS, PIN_M3_PWM_A_NEG, PIN_MOTOR_PWMAB,
       PIN_MOTOR_EN, PIN_M3_PWM_B_POS, PIN_M3_PWM_B_NEG, PIN_MOTOR_PWMAB
     );
-    joints[2] = new RobotJoint(encoder, motor_driver, 400/4);
+    joints[2] = new RobotJoint(encoder, motor_driver, MOTOR3_POLE_PAIRS);
   }
 
   // initialize axes
diff --git a/firmware/MotionControllerRP/src/robot.h b/firmware/MotionControllerRP/src/robot.h
index 980ec9e..f42141c 100644
--- a/firmware/MotionControllerRP/src/robot.h
+++ b/firmware/MotionControllerRP/src/robot.h
@@ -102,6 +102,7 @@ class Robot : public ICommandProcessor {
     uint32_t path_buffering_time_us;
     uint64_t path_buffering_start_time;
 
+    int motor_pole_pairs;
     RobotJoint* volatile joints[NUM_JOINTS];
 
     IKinemtaicModel* kinematic_model;