conf0.r = 7
conf0.l = 0.0025
conf0.j = 0.00005
conf0.psi = 0.04774
conf0.polecount = 4
conf0.max_force = 2
conf0.max_dc_cur = 3.8
conf0.max_ac_cur = 2.8
conf0.fb_type = 1
conf0.fb_rev = 1
conf0.fb_res = 8000
conf0.cmd_type = 1
conf0.cmd_res = 256
conf0.pos_p = 100
conf0.acc_p = 1
conf0.acc_pi = 10
conf0.cur_p = 0.5
conf0.cur_i = 0.0001