load iddc
iddc0.rt_prio = 4

iddc0.en = fault0.en_out
fault0.pos_error = 0
pid0.en = 0
hv0.en = iddc0.en_out
hv0.cur_bw = iddc0.cur_bw
hv0.cmd_mode = iddc0.cmd_mode
hv0.q_cmd = iddc0.q_cmd
hv0.pos = iddc0.com_pos
hv0.rev = iddc0.out_rev
hv0.r = idq0.r
hv0.l = idq0.l
hv0.phase_mode = 3
iddc0.ud_fb = hv0.ud_fb
iddc0.uq_fb = hv0.uq_fb
iddc0.id_fb = hv0.id_fb
iddc0.iq_fb = hv0.iq_fb
iddc0.pwm_volt = hv0.pwm_volt

iddc0.pos_fb = fb_switch0.pos_fb
iddc0.vel_fb = vel1.vel

iddc0.vel_fb = vel1.vel