From d4e1c2cd04ed19552e9f488c3a3e3ccbfef89c21 Mon Sep 17 00:00:00 2001
From: nmscode <105442557+nmscode@users.noreply.github.com>
Date: Mon, 27 Nov 2023 16:48:28 -0500
Subject: [PATCH 1/2] Remove sqrt 2 multiplication and correct bemf calculation

---
 src/BLDCMotor.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/BLDCMotor.cpp b/src/BLDCMotor.cpp
index 8dc2f5cd..16534199 100644
--- a/src/BLDCMotor.cpp
+++ b/src/BLDCMotor.cpp
@@ -46,7 +46,7 @@ BLDCMotor::BLDCMotor(int pp, float _R, float _KV, float _inductance)
   // 1/sqrt(2) - rms value
   KV_rating = NOT_SET;
   if (_isset(_KV))
-    KV_rating = _KV*_SQRT2;
+    KV_rating = _KV;
   // save phase inductance
   phase_inductance = _inductance;
 
@@ -396,7 +396,7 @@ void BLDCMotor::move(float new_target) {
   if(_isset(new_target)) target = new_target;
   
   // 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;
+  if (_isset(KV_rating)) voltage_bemf = shaft_velocity/(KV_rating*_SQRT3)/_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;
 

From afdbd9dba8f4e31af71afa5e4c07b35a19f9b185 Mon Sep 17 00:00:00 2001
From: nmscode <105442557+nmscode@users.noreply.github.com>
Date: Mon, 27 Nov 2023 16:52:13 -0500
Subject: [PATCH 2/2] apply fix to stepper motor logic as well

---
 src/StepperMotor.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/StepperMotor.cpp b/src/StepperMotor.cpp
index 7831f0bf..6cbe417a 100644
--- a/src/StepperMotor.cpp
+++ b/src/StepperMotor.cpp
@@ -16,7 +16,7 @@ StepperMotor::StepperMotor(int pp, float _R, float _KV, float _inductance)
   phase_resistance = _R;
   // save back emf constant KV = 1/K_bemf
   // usually used rms
-  KV_rating = _KV*_SQRT2;
+  KV_rating = _KV;
   // save phase inductance
   phase_inductance = _inductance;
 
@@ -292,7 +292,7 @@ void StepperMotor::move(float new_target) {
   if(_isset(new_target) ) target = new_target;
 
   // 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;
+  if (_isset(KV_rating)) voltage_bemf = shaft_velocity/(KV_rating*_SQRT3)/_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;