load dc_limits
load dc_ttc
dc_limits0.rt_prio = 7
dc_ttc0.rt_prio = 9
dc_limits0.r = conf0.r
dc_limits0.ld = conf0.l
dc_limits0.lq = conf0.l
dc_limits0.psi = conf0.psi
dc_ttc0.psi = conf0.psi
dc_limits0.ac_volt = hv0.pwm_volt
dc_limits0.iq = hv0.iq_fb
pid0.max_torque = dc_limits0.max_torque
pid0.min_torque = dc_limits0.min_torque
pid0.max_vel = dc_limits0.abs_max_vel
dc_ttc0.torque = pid0.torque_cor_cmd
hv0.d_cmd = 0
hv0.pos = 0
hv0.phase_mode = 3
hv0.q_cmd = dc_ttc0.cur
hv0.cmd_mode = 1