Setting a voltage command in voltage control is actually clsoer to setting a current command when the motor phase resistance, inductance, and KV is provided. Similarly, voltage_limit is just as confusing because it's simply constraining the "current" command in voltage-based torque control. This can lead to the unintended conseqence of the command voltage to the motor actually being higher than the voltage limit, after being transformed by simple FOC based on KV and phase resistance.
Naming conventions should be defined to make this clearer.
Setting a voltage command in voltage control is actually clsoer to setting a current command when the motor phase resistance, inductance, and KV is provided. Similarly,
voltage_limitis just as confusing because it's simply constraining the "current" command in voltage-based torque control. This can lead to the unintended conseqence of the command voltage to the motor actually being higher than the voltage limit, after being transformed by simple FOC based on KV and phase resistance.Naming conventions should be defined to make this clearer.