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motor pole pair count in config

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This commit is contained in:
0x23 2025-09-02 08:21:57 +02:00
parent b4c1c9d9d1
commit e3627cc8e8
4 changed files with 13 additions and 5 deletions
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6
firmware/MotionControllerRP/src/robot.cpp
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@ -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