load pmsm
load pmsm_limits
load pmsm_ttc
load idq
load curpid

hv0.a = idq0.a
hv0.b = idq0.b
hv0.iq = pmsm0.iq
hv0.enable = fault0.en_pid

pmsm0.rt_prio = 11
pmsm0.ud = curpid0.ud
pmsm0.uq = curpid0.uq
pmsm0.vel = net0.fb_d
pmsm0.r = conf0.r
pmsm0.ld = conf0.l
pmsm0.lq = conf0.l
pmsm0.psi = conf0.psi
pmsm0.polecount = conf0.polecount

idq0.rt_prio = 13.0
idq0.mode = 2
idq0.pos = vel2.pos_out
idq0.polecount = 1
idq0.d = curpid0.ud
idq0.q = curpid0.uq

curpid0.rt_prio = 10
curpid0.en = fault0.en_pid
curpid0.id_fb = pmsm0.id
curpid0.iq_fb = pmsm0.iq
curpid0.id_cmd = fb_switch0.id
curpid0.iq_cmd = pmsm_ttc0.cur
curpid0.dc_volt = hv0.dc_volt
curpid0.ac_volt = hv0.ac_volt
curpid0.rd = conf0.r
curpid0.rq = conf0.r
curpid0.ld = conf0.l
curpid0.lq = conf0.l
curpid0.ff = conf0.cur_ff
curpid0.kp = conf0.cur_p
curpid0.ki = conf0.cur_i
curpid0.kind = conf0.cur_ind
curpid0.cmd_mode = 1
curpid0.pwm_volt = hv0.pwm_volt


pmsm_ttc0.rt_prio = 9
pmsm_ttc0.torque = pid0.torque_cor_cmd
pmsm_ttc0.polecount = conf0.polecount
pmsm_ttc0.psi = conf0.psi

fb_switch0.phase_cur = conf0.phase_cur
fb_switch0.phase_time = conf0.phase_time


pid0.min_torque = pmsm_limits0.next_min_torque
pid0.max_torque = pmsm_limits0.next_max_torque



curpid0.max_cur = 5


pid0.max_vel = conf0.
pid0.max_torque = 5.000000
pid0.min_torque = -5.000000
pmsm0.vel = 
curpid0.cmd_mode = 1 ? CURRENT_MODE