diff --git a/platformio.ini b/platformio.ini
index c933fb4..4e0448e 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -52,4 +52,5 @@ build_flags =
 [env:esp32]
 platform = espressif32
 board = esp-wrover-kit
-build_flags = -D MCU_ESP32
\ No newline at end of file
+build_flags = -D MCU_ESP32
+monitor_filters = esp32_exception_decoder
\ No newline at end of file
diff --git a/src/boards.h b/src/boards.h
index 968db0d..60cf1e0 100644
--- a/src/boards.h
+++ b/src/boards.h
@@ -8,7 +8,7 @@
     #elif defined(MCU_PICO)
         #define BOARD_CUSTOM_PICO
     #elif defined(MCU_ESP32)
-        #define BOARD_CUSTOM
+        #define BOARD_CUSTOM_ESP32
     #else
         #error "Invalid build config - must specify MCU type"
     #endif
@@ -50,11 +50,11 @@
     #define ENDSTOPS_PULLUPS true
     #define WIRING_ENDSTOPS_MIN {A0,A1,A2}
     #define WIRING_ENDSTOPS_MAX {A3,A4,A5}
-#else
-    #define BOARD_STRING "Custom board"
-    #define WIRING_MOTOR_X 13, 12, 11, 10
-    #define WIRING_MOTOR_Y 9, 8, 7, 6
-    #define WIRING_MOTOR_Z 5, 4, 3, 2
+#elif defined(BOARD_CUSTOM_ESP32)
+    #define BOARD_STRING "Custom ESP32 board"
+    #define WIRING_MOTOR_X 34, 32, 25, 27
+    #define WIRING_MOTOR_Y 12, 13, 14, 26
+    #define WIRING_MOTOR_Z 23, 35, 18, 5
     #define ENDSTOPS_INVERT false
     #define ENDSTOPS_PULLUPS true
     #define WIRING_ENDSTOPS_MIN {A0,A1,A2}
diff --git a/src/modules/stage/stage.cpp b/src/modules/stage/stage.cpp
index ab2f067..313fb30 100644
--- a/src/modules/stage/stage.cpp
+++ b/src/modules/stage/stage.cpp
@@ -10,7 +10,7 @@
 #include "main.h"
 
 // The array below has 3 stepper objects, for X,Y,Z respectively
-const uint8_t n_motors = 3;
+const uint8_t n_motors = STAGE_N_MOTORS;
 long min_step_delay = -1;
 const uint8_t min_step_delay_eeprom = sizeof(long) * n_motors;
 long ramp_time = -1;