link pid
link pmsm
link encm_fb0
link misc
conf0.r = 1.2
conf0.l = 0.005
conf0.j = 0.00005
conf0.polecount = 2
conf0.max_ac_cur = 10
conf0.max_force = 4
conf0.mot_fb_offset = 1.57
conf0.max_vel = 837