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20 lines
491 B
Plaintext
20 lines
491 B
Plaintext
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load dc_limits
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load dc_ttc
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dc_limits0.rt_prio = 7
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dc_ttc0.rt_prio = 9
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dc_limits0.r = conf0.r
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dc_limits0.ld = conf0.l
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dc_limits0.lq = conf0.l
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dc_limits0.psi = conf0.psi
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dc_ttc0.psi = conf0.psi
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dc_limits0.ac_volt = hv0.pwm_volt
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dc_limits0.iq = hv0.q_fb
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pid0.max_torque = dc_limits0.max_torque
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pid0.min_torque = dc_limits0.min_torque
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pid0.max_vel = dc_limits0.abs_max_vel
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dc_ttc0.torque = pid0.torque_cor_cmd
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hv0.d_cmd = 0
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hv0.pos = 0
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hv0.phase_mode = 3
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hv0.q_cmd = dc_ttc0.cur
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hv0.cmd_mode = 1
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