HI,
I would like to implement this control using angle and foc_current.
In angle control,
current_sp = PID_velocity (shaft_velocity_sp - shaft_velocity).
In foc current,
voltage.q = PID_current_q(current_sp - current.d).
Question 1: how do you convert current_sp in angle control to target current for foc_current?
Question 2: where is the current limit (e.g. _constraint(current_sp, -current_limit, current_limit)?