CURPID #NonePins #en:cmd_mode:id_cmd:iq_cmd:id_fb:iq_fb:ud:uq:max_cur:pwm_volt:r:ld:lq:psi:ff: r feed forwardcur_bw:ksp: predictorkind: bemf feed forwardkci:scale:vel: velocity inputid_error:iq_error:Source: .c File