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motor pole pair count in config

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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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1
firmware/MotionControllerRP/src/robot.h
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@ -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;