Made changes reflecting PR comments.

Added torque_ramp_rate to controller config.
Changed INPUT_MODE_CURRENT_RAMP to INPUT_MODE_TORQUE_RAMP for controller input mode enum.
Torque limits and current limits are now observed seperately. Torque limit is in the controller, current limit is in the motor object.
Fixed torque -> current calculation in motor_update to handle ACIM motors.

docs/commands.md

@@ -77,7 +77,7 @@ Possible values are:
 * `INPUT_MODE_POS_FILTER`
 * `INPUT_MODE_MIX_CHANNELS`
 * `INPUT_MODE_TRAP_TRAJ`
-* `INPUT_MODE_CURRENT_RAMP`
+* `INPUT_MODE_TORQUE_RAMP`
 * `INPUT_MODE_MIRROR`
 
 For more information, see [input_modes](input_modes.md).
@@ -97,7 +97,7 @@ Possible values are:
 * `INPUT_MODE_POS_FILTER`
 * `INPUT_MODE_MIX_CHANNELS`
 * `INPUT_MODE_TRAP_TRAJ`
-* `INPUT_MODE_CURRENT_RAMP`
+* `INPUT_MODE_TORQUE_RAMP`
 * `INPUT_MODE_MIRROR`
 
 ## System monitoring commands

docs/getting-started.md

@@ -348,7 +348,7 @@ You can now control the velocity with `axis.controller.input_vel = 5000` [count/
 
 ### Torque control
 Set `axis.controller.config.control_mode = CONTROL_MODE_CURRENT_CONTROL`.<br>
-You can now control the torque with `axis.controller.input_torque = 3` [Nm].
+You can now control the torque with `axis.controller.input_torque = 0.1` [Nm].
 
 Note: If you exceed `vel_limit` in current control mode, the current is reduced. To disable this, set `axis.controller.enable_current_mode_vel_limit = False`.
 

docs/input_modes.md

@@ -13,7 +13,7 @@ The Input Modes currently valid are:
 * `INPUT_MODE_POS_FILTER`
 * `INPUT_MODE_MIX_CHANNELS`
 * `INPUT_MODE_TRAP_TRAJ`
-* `INPUT_MODE_CURRENT_RAMP`
+* `INPUT_MODE_TORQUE_RAMP`
 * `INPUT_MODE_MIRROR`
 
 ---
@@ -85,11 +85,11 @@ Implementes an online trapezoidal trajectory planner.
 ### Valid Control Modes:
 * `CONTROL_MODE_POSITION_CONTROL`
 
-## INPUT_MODE_CURRENT_RAMP
-Ramp a current command from the current value to the target value.
+## INPUT_MODE_TORQUE_RAMP
+Ramp a torque command from the current value to the target value.
 
 ### Configuration Values:
-* `<axis>.controller.config.current_ramp_rate`
+* `<axis>.controller.config.torque_ramp_rate`
 
 ### Valid Inputs:
 * `input_torque`