diff --git a/conf/template/iddc.txt b/conf/template/iddc.txt
index 2123cf27..014e9292 100644
--- a/conf/template/iddc.txt
+++ b/conf/template/iddc.txt
@@ -4,11 +4,10 @@ iddc0.rt_prio = 4
 
 iddc0.en = fault0.en_out
 fault0.pos_error = 0
-pid0.enable = 0
+pid0.en = 0
 hv0.en = iddc0.en_out
 hv0.cur_bw = iddc0.cur_bw
 hv0.cmd_mode = iddc0.cmd_mode
-hv0.d_cmd = iddc0.d_cmd
 hv0.q_cmd = iddc0.q_cmd
 hv0.pos = iddc0.com_pos
 hv0.rev = iddc0.out_rev
@@ -25,4 +24,6 @@ iddc0.pos_fb = fb_switch0.pos_fb
 iddc0.vel_fb = vel1.vel
 
 vel0.pos_in = fb_switch0.pos_fb
-iddc0.vel_fb = vel1.vel
\ No newline at end of file
+iddc0.vel_fb = vel1.vel
+
+iddc0.test_cur = conf0.max_ac_cur
\ No newline at end of file
diff --git a/conf/template/idpmsm.txt b/conf/template/idpmsm.txt
index cf07bcff..c7655efa 100644
--- a/conf/template/idpmsm.txt
+++ b/conf/template/idpmsm.txt
@@ -25,4 +25,6 @@ idpmsm0.pos_fb = fb_switch0.mot_abs_fb_no_offset
 idpmsm0.vel_fb = vel1.vel
 
 vel0.pos_in = fb_switch0.pos_fb
-idpmsm0.vel_fb = vel1.vel
\ No newline at end of file
+idpmsm0.vel_fb = vel1.vel
+
+idpmsm0.test_cur = conf0.max_ac_cur
\ No newline at end of file
diff --git a/shared/comps/iddc.c b/shared/comps/iddc.c
index d38d07b7..6a9d0d02 100644
--- a/shared/comps/iddc.c
+++ b/shared/comps/iddc.c
@@ -5,16 +5,13 @@
 
 HAL_COMP(iddc);
 
-HAL_PIN(d_cmd);
 HAL_PIN(q_cmd);
 HAL_PIN(com_pos);
 HAL_PIN(cmd_mode);
 HAL_PIN(en);
 HAL_PIN(en_out);
 
-HAL_PIN(id_fb);
 HAL_PIN(iq_fb);
-HAL_PIN(ud_fb);
 HAL_PIN(uq_fb);
 HAL_PIN(pos_fb);
 HAL_PIN(vel_fb);
@@ -54,7 +51,7 @@ static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct iddc_pin_ctx_t *pins = (struct iddc_pin_ctx_t *)pin_ptr;
   PIN(test_cur) = 4.0;
   PIN(test_vel) = 50.0;
-  PIN(ki) = 1.0;
+  PIN(ki) = 2.0;
   PIN(pi) = 1.0;
   PIN(vel_bw) = 20.0;
   PIN(cur_bw) = 1.0;
@@ -78,14 +75,13 @@ static void nrt(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
     case 10: // r
       PIN(state) = 1.1;
       PIN(timer) = 0.0;
-      PIN(d_cmd) = 0.0;
       PIN(q_cmd) = 0.0;
       PIN(com_pos) = 0.0;
       PIN(cmd_mode) = 0.0;
 
       printf("Measure r, l\n");
       printf("<font color='green'>block the rotor</font>\n");
-      printf("id0.state = 1.2 <font color='green'>to start</font>\n");
+      printf("iddc0.state = 1.2 <font color='green'>to start</font>\n");
     break;
 
     case 14:
@@ -97,7 +93,6 @@ static void nrt(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
     case 20:
       PIN(state) = 3.1;
       PIN(timer) = 0.0;
-      PIN(d_cmd) = 0.0;
       PIN(q_cmd) = 0.0;
       PIN(cur_sum) = 0.0;
       PIN(cmd_mode) = 0.0;
@@ -106,7 +101,7 @@ static void nrt(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
       printf("Measure torque constant\n");
       printf("<font color='green'>unblock the rotor</font>\n");
       printf("the motor will move\n");
-      printf("id0.state = 2.2 <font color='green'>to start</font>\n");
+      printf("iddc0.state = 2.2 <font color='green'>to start</font>\n");
     break;
 
     case 23:
@@ -135,9 +130,8 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
       PIN(en_out) = 0.0;
       PIN(cmd_mode) = 0.0;
       PIN(timer) = 0.0;
-      PIN(d_cmd) = 0.0;
       PIN(q_cmd) = 0.0;
-      PIN(cur_bw) = 1.0;
+      PIN(cur_bw) = 10.0;
 
       if(PIN(en) > 0.0){
         PIN(state) = 1.0;
@@ -147,19 +141,17 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
     case 12: // r
       PIN(en_out) = 1.0;
       PIN(cmd_mode) = 1.0;
-      PIN(cur_bw) = 1.0;
-      PIN(q_cmd) = 0.0;
+      PIN(cur_bw) = 10.0;
       PIN(com_pos) = 0.0;
 
-      PIN(d_cmd) = PIN(test_cur);
+      PIN(q_cmd) = PIN(test_cur);
 
-      PIN(r) = PIN(r) * 0.99 + PIN(ud_fb) / MAX(PIN(id_fb), 0.01) * 0.01;
+      PIN(r) = PIN(r) * 0.99 + PIN(uq_fb) / MAX(PIN(iq_fb), 0.01) * 0.01;
 
       PIN(timer) += period;
       if(PIN(timer) >= 2.0){
         PIN(timer) = 0.0;
         PIN(state) = 1.3;
-        PIN(d_cmd) = 0.0;
         PIN(en_out) = 0.0;
         PIN(tmp0) = 0.0;
         PIN(tmp1) = 0.0;
@@ -172,19 +164,18 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
     case 13: // l
       PIN(en_out) = 1.0;
       PIN(cmd_mode) = 0.0;
-      PIN(q_cmd) = 0.0;
-      PIN(cur_bw) = 1.0;
+      PIN(cur_bw) = 10.0;
       
-      //PIN(l) = PIN(l) * 0.995 + ABS(PIN(ud_fb) - avg_test_volt / 2.0) / MAX(ABS(PIN(id_fb) - PIN(test_cur)), 0.001) * period * 0.005;
-      if(PIN(d_cmd) < PIN(avg_test_volt)){
-        PIN(tmp0) = PIN(tmp0) * 0.99 + PIN(id_fb) * 0.01;
-        PIN(tmp1) = PIN(tmp1) * 0.99 + PIN(ud_fb) * 0.01;
-        PIN(d_cmd) = PIN(avg_test_volt) * 1.5;
+      //PIN(l) = PIN(l) * 0.995 + ABS(PIN(uq_fb) - avg_test_volt / 2.0) / MAX(ABS(PIN(iq_fb) - PIN(test_cur)), 0.001) * period * 0.005;
+      if(PIN(q_cmd) < PIN(avg_test_volt)){
+        PIN(tmp0) = PIN(tmp0) * 0.99 + PIN(iq_fb) * 0.01;
+        PIN(tmp1) = PIN(tmp1) * 0.99 + PIN(uq_fb) * 0.01;
+        PIN(q_cmd) = PIN(avg_test_volt) * 1.5;
       }
       else{
-        PIN(tmp2) = PIN(tmp2) * 0.99 + PIN(id_fb) * 0.01;
-        PIN(tmp3) = PIN(tmp3) * 0.99 + PIN(ud_fb) * 0.01;
-        PIN(d_cmd) = PIN(avg_test_volt) * 0.5;
+        PIN(tmp2) = PIN(tmp2) * 0.99 + PIN(iq_fb) * 0.01;
+        PIN(tmp3) = PIN(tmp3) * 0.99 + PIN(uq_fb) * 0.01;
+        PIN(q_cmd) = PIN(avg_test_volt) * 0.5;
       }
 
       PIN(timer) += period;
@@ -192,7 +183,7 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
         PIN(l) = ABS(PIN(tmp1) - PIN(tmp3)) / ABS(PIN(tmp0) - PIN(tmp2)) * period;
         PIN(timer) = 0.0;
         PIN(state) = 1.4;
-        PIN(d_cmd) = PIN(avg_test_volt);
+        PIN(q_cmd) = PIN(avg_test_volt);
         PIN(en_out) = 0.0;
         // PIN(tmp0) = 0.0;
         // PIN(tmp1) = 0.0;
@@ -203,9 +194,10 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
       PIN(en_out) = 1.0;
       PIN(cmd_mode) = 1.0;
       PIN(cur_bw) = 250.0;
-      PIN(d_cmd) = 0.0;
 
       float vel_error = PIN(test_vel) - ABS(PIN(vel_fb));
+      vel_error = LIMIT(vel_error, PIN(test_vel) / 10.0);
+
       PIN(cur_sum) += PIN(ki) * vel_error * period;
 
       PIN(q_cmd) = PIN(vel_bw) * period * vel_error + PIN(cur_sum);
@@ -226,7 +218,6 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
 
         PIN(timer) = 0.0;
         PIN(en_out) = 0.0;
-        PIN(d_cmd) = 0.0;
         PIN(q_cmd) = 0.0;
         PIN(cur_sum) = 0.0;
         PIN(cmd_mode) = 0.0;
diff --git a/shared/comps/idm.c b/shared/comps/idm.c
index f018c5fe..e63a851b 100644
--- a/shared/comps/idm.c
+++ b/shared/comps/idm.c
@@ -84,7 +84,7 @@ static void nrt(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
       else{
         printf("Measure friction, damping and inertia\n");
         printf("the motor will move\n");
-        printf("id0.state = 1.2 <font color='green'>to start</font>\n");
+        printf("idm0.state = 1.2 <font color='green'>to start</font>\n");
       }
     break;
 
diff --git a/shared/comps/idpmsm.c b/shared/comps/idpmsm.c
index 1297482a..cb9802e5 100644
--- a/shared/comps/idpmsm.c
+++ b/shared/comps/idpmsm.c
@@ -91,7 +91,7 @@ static void nrt(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
       else{
         printf("Measure r, l\n");
         printf("the motor can move a bit\n");
-        printf("id0.state = 1.2 <font color='green'>to start</font>\n");
+        printf("idpmsm0.state = 1.2 <font color='green'>to start</font>\n");
       }
     break;
 
@@ -115,7 +115,7 @@ static void nrt(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
       else{
         printf("Measure com_offset, polepairs, out_rev\n");
         printf("the motor will move\n");
-        printf("id0.state = 2.2 <font color='green'>to start</font>\n");
+        printf("idpmsm0.state = 2.2 <font color='green'>to start</font>\n");
       }
     break;