load psi
psi0.rt_prio = 10
psi0.dc_volt = hv0.dc_volt
psi0.u = hv0.u_fb
psi0.v = hv0.v_fb
psi0.w = hv0.w_fb
psi0.vel = vel1.vel
psi0.polecount = conf0.polecount
fault0.en = 0
fault0.brake_release = 1
vel1.en = 1
term0.wave0 = psi0.psi
term0.wave1 = psi0.max_psi
term0.gain0 = 500
term0.gain1 = 500
stop
start
