load dc_ttc
dc_ttc0.rt_prio = 9
dc_ttc0.psi = conf0.psi
dc_ttc0.torque = pid0.torque_cmd
hv0.d_cmd = 0
hv0.pos = 0
hv0.phase_mode = 3
hv0.q_cmd = dc_ttc0.cur
hv0.cmd_mode = 1
conf0.phase_time = 0
conf0.phase_cur = 0