leocelente/motor-config.xml

## motor-config.xml
<?xml version="1.0" encoding="UTF-8"?>
<MCConfiguration>
    <ConfigVersion>2</ConfigVersion>
    <pwm_mode>1</pwm_mode>
    <comm_mode>0</comm_mode>
    <motor_type>2</motor_type>
    <sensor_mode>0</sensor_mode>
    <l_current_max>20.65</l_current_max>
    <l_current_min>-20.65</l_current_min>
    <l_in_current_max>15</l_in_current_max>
    <l_in_current_min>-5</l_in_current_min>
    <l_abs_current_max>30.97</l_abs_current_max>
    <l_min_erpm>-100000</l_min_erpm>
    <l_max_erpm>100000</l_max_erpm>
    <l_erpm_start>0.8</l_erpm_start>
    <l_max_erpm_fbrake>300</l_max_erpm_fbrake>
    <l_max_erpm_fbrake_cc>1500</l_max_erpm_fbrake_cc>
    <l_min_vin>8</l_min_vin>
    <l_max_vin>57</l_max_vin>
    <l_battery_cut_start>10.2</l_battery_cut_start>
    <l_battery_cut_end>9</l_battery_cut_end>
    <l_battery_regen_cut_start>1000</l_battery_regen_cut_start>
    <l_battery_regen_cut_end>1100</l_battery_regen_cut_end>
    <l_slow_abs_current>0</l_slow_abs_current>
    <l_temp_fet_start>85</l_temp_fet_start>
    <l_temp_fet_end>100</l_temp_fet_end>
    <l_temp_motor_start>85</l_temp_motor_start>
    <l_temp_motor_end>100</l_temp_motor_end>
    <l_temp_accel_dec>0.15</l_temp_accel_dec>
    <l_min_duty>0.005</l_min_duty>
    <l_max_duty>0.95</l_max_duty>
    <l_watt_max>1.5e+06</l_watt_max>
    <l_watt_min>-1.5e+06</l_watt_min>
    <l_current_max_scale>1</l_current_max_scale>
    <l_current_min_scale>1</l_current_min_scale>
    <l_duty_start>1</l_duty_start>
    <sl_min_erpm>150</sl_min_erpm>
    <sl_min_erpm_cycle_int_limit>1100</sl_min_erpm_cycle_int_limit>
    <sl_max_fullbreak_current_dir_change>10</sl_max_fullbreak_current_dir_change>
    <sl_cycle_int_limit>62</sl_cycle_int_limit>
    <sl_phase_advance_at_br>0.8</sl_phase_advance_at_br>
    <sl_cycle_int_rpm_br>80000</sl_cycle_int_rpm_br>
    <sl_bemf_coupling_k>600</sl_bemf_coupling_k>
    <hall_table__0>-1</hall_table__0>
    <hall_table__1>1</hall_table__1>
    <hall_table__2>3</hall_table__2>
    <hall_table__3>2</hall_table__3>
    <hall_table__4>5</hall_table__4>
    <hall_table__5>6</hall_table__5>
    <hall_table__6>4</hall_table__6>
    <hall_table__7>-1</hall_table__7>
    <hall_sl_erpm>2000</hall_sl_erpm>
    <foc_current_kp>1.0652</foc_current_kp>
    <foc_current_ki>625.39</foc_current_ki>
    <foc_f_zv>25000</foc_f_zv>
    <foc_dt_us>0.12</foc_dt_us>
    <foc_encoder_inverted>0</foc_encoder_inverted>
    <foc_encoder_offset>180</foc_encoder_offset>
    <foc_encoder_ratio>7</foc_encoder_ratio>
    <foc_sensor_mode>2</foc_sensor_mode>
    <foc_pll_kp>2000</foc_pll_kp>
    <foc_pll_ki>30000</foc_pll_ki>
    <foc_motor_l>0.0010652</foc_motor_l>
    <foc_motor_ld_lq_diff>0.00079952</foc_motor_ld_lq_diff>
    <foc_motor_r>0.6254</foc_motor_r>
    <foc_motor_flux_linkage>1</foc_motor_flux_linkage>
    <foc_observer_gain>0</foc_observer_gain>
    <foc_observer_gain_slow>0.05</foc_observer_gain_slow>
    <foc_observer_offset>-1</foc_observer_offset>
    <foc_duty_dowmramp_kp>50</foc_duty_dowmramp_kp>
    <foc_duty_dowmramp_ki>1000</foc_duty_dowmramp_ki>
    <foc_start_curr_dec>1</foc_start_curr_dec>
    <foc_start_curr_dec_rpm>2500</foc_start_curr_dec_rpm>
    <foc_openloop_rpm>700</foc_openloop_rpm>
    <foc_openloop_rpm_low>0</foc_openloop_rpm_low>
    <foc_d_gain_scale_start>0.9</foc_d_gain_scale_start>
    <foc_d_gain_scale_max_mod>0.2</foc_d_gain_scale_max_mod>
    <foc_sl_openloop_hyst>0.1</foc_sl_openloop_hyst>
    <foc_sl_openloop_time_lock>0</foc_sl_openloop_time_lock>
    <foc_sl_openloop_time_ramp>0.1</foc_sl_openloop_time_ramp>
    <foc_sl_openloop_time>0.05</foc_sl_openloop_time>
    <foc_sl_openloop_boost_q>0</foc_sl_openloop_boost_q>
    <foc_sl_openloop_max_q>-1</foc_sl_openloop_max_q>
    <foc_hall_table__0>255</foc_hall_table__0>
    <foc_hall_table__1>166</foc_hall_table__1>
    <foc_hall_table__2>101</foc_hall_table__2>
    <foc_hall_table__3>134</foc_hall_table__3>
    <foc_hall_table__4>35</foc_hall_table__4>
    <foc_hall_table__5>0</foc_hall_table__5>
    <foc_hall_table__6>68</foc_hall_table__6>
    <foc_hall_table__7>255</foc_hall_table__7>
    <foc_hall_interp_erpm>500</foc_hall_interp_erpm>
    <foc_sl_erpm_start>2500</foc_sl_erpm_start>
    <foc_sl_erpm>4000</foc_sl_erpm>
    <foc_sample_v0_v7>0</foc_sample_v0_v7>
    <foc_sample_high_current>0</foc_sample_high_current>
    <foc_sat_comp_mode>2</foc_sat_comp_mode>
    <foc_sat_comp>0</foc_sat_comp>
    <foc_temp_comp>0</foc_temp_comp>
    <foc_temp_comp_base_temp>-5.7</foc_temp_comp_base_temp>
    <foc_current_filter_const>0.1</foc_current_filter_const>
    <foc_cc_decoupling>0</foc_cc_decoupling>
    <foc_observer_type>3</foc_observer_type>
    <foc_hfi_voltage_start>20</foc_hfi_voltage_start>
    <foc_hfi_voltage_run>4</foc_hfi_voltage_run>
    <foc_hfi_voltage_max>6</foc_hfi_voltage_max>
    <foc_hfi_gain>0.3</foc_hfi_gain>
    <foc_hfi_hyst>0</foc_hfi_hyst>
    <foc_sl_erpm_hfi>3000</foc_sl_erpm_hfi>
    <foc_hfi_start_samples>5</foc_hfi_start_samples>
    <foc_hfi_obs_ovr_sec>0.001</foc_hfi_obs_ovr_sec>
    <foc_hfi_samples>1</foc_hfi_samples>
    <foc_offsets_cal_on_boot>0</foc_offsets_cal_on_boot>
    <foc_offsets_current__0>2030</foc_offsets_current__0>
    <foc_offsets_current__1>2030</foc_offsets_current__1>
    <foc_offsets_current__2>0</foc_offsets_current__2>
    <foc_offsets_voltage__0>0.0003</foc_offsets_voltage__0>
    <foc_offsets_voltage__1>-0.0008</foc_offsets_voltage__1>
    <foc_offsets_voltage__2>0.0004</foc_offsets_voltage__2>
    <foc_offsets_voltage_undriven__0>0</foc_offsets_voltage_undriven__0>
    <foc_offsets_voltage_undriven__1>0</foc_offsets_voltage_undriven__1>
    <foc_offsets_voltage_undriven__2>0</foc_offsets_voltage_undriven__2>
    <foc_phase_filter_enable>1</foc_phase_filter_enable>
    <foc_phase_filter_disable_fault>1</foc_phase_filter_disable_fault>
    <foc_phase_filter_max_erpm>4000</foc_phase_filter_max_erpm>
    <foc_mtpa_mode>0</foc_mtpa_mode>
    <foc_fw_current_max>0</foc_fw_current_max>
    <foc_fw_duty_start>0.9</foc_fw_duty_start>
    <foc_fw_q_current_factor>0.02</foc_fw_q_current_factor>
    <foc_fw_ramp_time>0.2</foc_fw_ramp_time>
    <foc_speed_soure>1</foc_speed_soure>
    <gpd_buffer_notify_left>200</gpd_buffer_notify_left>
    <gpd_buffer_interpol>0</gpd_buffer_interpol>
    <gpd_current_filter_const>0.1</gpd_current_filter_const>
    <gpd_current_kp>0.03</gpd_current_kp>
    <gpd_current_ki>50</gpd_current_ki>
    <sp_pid_loop_rate>5</sp_pid_loop_rate>
    <s_pid_kp>0.004</s_pid_kp>
    <s_pid_ki>0.004</s_pid_ki>
    <s_pid_kd>0.0001</s_pid_kd>
    <s_pid_kd_filter>0.2</s_pid_kd_filter>
    <s_pid_min_erpm>900</s_pid_min_erpm>
    <s_pid_allow_braking>1</s_pid_allow_braking>
    <s_pid_ramp_erpms_s>25000</s_pid_ramp_erpms_s>
    <p_pid_kp>0.025</p_pid_kp>
    <p_pid_ki>0</p_pid_ki>
    <p_pid_kd>0</p_pid_kd>
    <p_pid_offset>0</p_pid_offset>
    <p_pid_kd_proc>0.00035</p_pid_kd_proc>
    <p_pid_kd_filter>0.2</p_pid_kd_filter>
    <p_pid_ang_div>1</p_pid_ang_div>
    <p_pid_gain_dec_angle>0</p_pid_gain_dec_angle>
    <cc_startup_boost_duty>0.01</cc_startup_boost_duty>
    <cc_min_current>0.05</cc_min_current>
    <cc_gain>0.0046</cc_gain>
    <cc_ramp_step_max>0.04</cc_ramp_step_max>
    <m_fault_stop_time_ms>500</m_fault_stop_time_ms>
    <m_duty_ramp_step>0.02</m_duty_ramp_step>
    <m_current_backoff_gain>0.5</m_current_backoff_gain>
    <m_encoder_counts>8192</m_encoder_counts>
    <m_encoder_sin_amp>1</m_encoder_sin_amp>
    <m_encoder_cos_amp>1</m_encoder_cos_amp>
    <m_encoder_sin_offset>1.65</m_encoder_sin_offset>
    <m_encoder_cos_offset>1.65</m_encoder_cos_offset>
    <m_encoder_sincos_filter_constant>0.5</m_encoder_sincos_filter_constant>
    <m_encoder_sincos_phase_correction>0</m_encoder_sincos_phase_correction>
    <m_sensor_port_mode>0</m_sensor_port_mode>
    <m_invert_direction>0</m_invert_direction>
    <m_drv8301_oc_mode>0</m_drv8301_oc_mode>
    <m_drv8301_oc_adj>16</m_drv8301_oc_adj>
    <m_bldc_f_sw_min>3000</m_bldc_f_sw_min>
    <m_bldc_f_sw_max>35000</m_bldc_f_sw_max>
    <m_dc_f_sw>25000</m_dc_f_sw>
    <m_ntc_motor_beta>3380</m_ntc_motor_beta>
    <m_out_aux_mode>0</m_out_aux_mode>
    <m_motor_temp_sens_type>0</m_motor_temp_sens_type>
    <m_ptc_motor_coeff>0.61</m_ptc_motor_coeff>
    <m_ntcx_ptcx_res>10000</m_ntcx_ptcx_res>
    <m_ntcx_ptcx_temp_base>25</m_ntcx_ptcx_temp_base>
    <m_hall_extra_samples>1</m_hall_extra_samples>
    <m_batt_filter_const>45</m_batt_filter_const>
    <si_motor_poles>20</si_motor_poles>
    <si_gear_ratio>1</si_gear_ratio>
    <si_wheel_diameter>0.083</si_wheel_diameter>
    <si_battery_type>0</si_battery_type>
    <si_battery_cells>3</si_battery_cells>
    <si_battery_ah>6</si_battery_ah>
    <si_motor_nl_current>1</si_motor_nl_current>
    <motor_brand>Unnamed</motor_brand>
    <motor_model>Not Specified</motor_model>
    <motor_weight>0</motor_weight>
    <motor_sensor_type>1</motor_sensor_type>
    <motor_description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A motor description can be edited here.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</motor_description>
    <motor_quality_bearings>0</motor_quality_bearings>
    <motor_quality_magnets>0</motor_quality_magnets>
    <motor_quality_construction>0</motor_quality_construction>
    <motor_quality_description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Some comments about the motor quality. Images can be added as well.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</motor_quality_description>
    <bms.type>1</bms.type>
    <bms.limit_mode>3</bms.limit_mode>
    <bms.t_limit_start>45</bms.t_limit_start>
    <bms.t_limit_end>65</bms.t_limit_end>
    <bms.soc_limit_start>0.05</bms.soc_limit_start>
    <bms.soc_limit_end>0</bms.soc_limit_end>
    <bms.fwd_can_mode>0</bms.fwd_can_mode>
</MCConfiguration>
	<?xml version="1.0" encoding="UTF-8"?>
	<MCConfiguration>
	<ConfigVersion>2</ConfigVersion>
	<pwm_mode>1</pwm_mode>
	<comm_mode>0</comm_mode>
	<motor_type>2</motor_type>
	<sensor_mode>0</sensor_mode>
	<l_current_max>20.65</l_current_max>
	<l_current_min>-20.65</l_current_min>
	<l_in_current_max>15</l_in_current_max>
	<l_in_current_min>-5</l_in_current_min>
	<l_abs_current_max>30.97</l_abs_current_max>
	<l_min_erpm>-100000</l_min_erpm>
	<l_max_erpm>100000</l_max_erpm>
	<l_erpm_start>0.8</l_erpm_start>
	<l_max_erpm_fbrake>300</l_max_erpm_fbrake>
	<l_max_erpm_fbrake_cc>1500</l_max_erpm_fbrake_cc>
	<l_min_vin>8</l_min_vin>
	<l_max_vin>57</l_max_vin>
	<l_battery_cut_start>10.2</l_battery_cut_start>
	<l_battery_cut_end>9</l_battery_cut_end>
	<l_battery_regen_cut_start>1000</l_battery_regen_cut_start>
	<l_battery_regen_cut_end>1100</l_battery_regen_cut_end>
	<l_slow_abs_current>0</l_slow_abs_current>
	<l_temp_fet_start>85</l_temp_fet_start>
	<l_temp_fet_end>100</l_temp_fet_end>
	<l_temp_motor_start>85</l_temp_motor_start>
	<l_temp_motor_end>100</l_temp_motor_end>
	<l_temp_accel_dec>0.15</l_temp_accel_dec>
	<l_min_duty>0.005</l_min_duty>
	<l_max_duty>0.95</l_max_duty>
	<l_watt_max>1.5e+06</l_watt_max>
	<l_watt_min>-1.5e+06</l_watt_min>
	<l_current_max_scale>1</l_current_max_scale>
	<l_current_min_scale>1</l_current_min_scale>
	<l_duty_start>1</l_duty_start>
	<sl_min_erpm>150</sl_min_erpm>
	<sl_min_erpm_cycle_int_limit>1100</sl_min_erpm_cycle_int_limit>
	<sl_max_fullbreak_current_dir_change>10</sl_max_fullbreak_current_dir_change>
	<sl_cycle_int_limit>62</sl_cycle_int_limit>
	<sl_phase_advance_at_br>0.8</sl_phase_advance_at_br>
	<sl_cycle_int_rpm_br>80000</sl_cycle_int_rpm_br>
	<sl_bemf_coupling_k>600</sl_bemf_coupling_k>
	<hall_table__0>-1</hall_table__0>
	<hall_table__1>1</hall_table__1>
	<hall_table__2>3</hall_table__2>
	<hall_table__3>2</hall_table__3>
	<hall_table__4>5</hall_table__4>
	<hall_table__5>6</hall_table__5>
	<hall_table__6>4</hall_table__6>
	<hall_table__7>-1</hall_table__7>
	<hall_sl_erpm>2000</hall_sl_erpm>
	<foc_current_kp>1.0652</foc_current_kp>
	<foc_current_ki>625.39</foc_current_ki>
	<foc_f_zv>25000</foc_f_zv>
	<foc_dt_us>0.12</foc_dt_us>
	<foc_encoder_inverted>0</foc_encoder_inverted>
	<foc_encoder_offset>180</foc_encoder_offset>
	<foc_encoder_ratio>7</foc_encoder_ratio>
	<foc_sensor_mode>2</foc_sensor_mode>
	<foc_pll_kp>2000</foc_pll_kp>
	<foc_pll_ki>30000</foc_pll_ki>
	<foc_motor_l>0.0010652</foc_motor_l>
	<foc_motor_ld_lq_diff>0.00079952</foc_motor_ld_lq_diff>
	<foc_motor_r>0.6254</foc_motor_r>
	<foc_motor_flux_linkage>1</foc_motor_flux_linkage>
	<foc_observer_gain>0</foc_observer_gain>
	<foc_observer_gain_slow>0.05</foc_observer_gain_slow>
	<foc_observer_offset>-1</foc_observer_offset>
	<foc_duty_dowmramp_kp>50</foc_duty_dowmramp_kp>
	<foc_duty_dowmramp_ki>1000</foc_duty_dowmramp_ki>
	<foc_start_curr_dec>1</foc_start_curr_dec>
	<foc_start_curr_dec_rpm>2500</foc_start_curr_dec_rpm>
	<foc_openloop_rpm>700</foc_openloop_rpm>
	<foc_openloop_rpm_low>0</foc_openloop_rpm_low>
	<foc_d_gain_scale_start>0.9</foc_d_gain_scale_start>
	<foc_d_gain_scale_max_mod>0.2</foc_d_gain_scale_max_mod>
	<foc_sl_openloop_hyst>0.1</foc_sl_openloop_hyst>
	<foc_sl_openloop_time_lock>0</foc_sl_openloop_time_lock>
	<foc_sl_openloop_time_ramp>0.1</foc_sl_openloop_time_ramp>
	<foc_sl_openloop_time>0.05</foc_sl_openloop_time>
	<foc_sl_openloop_boost_q>0</foc_sl_openloop_boost_q>
	<foc_sl_openloop_max_q>-1</foc_sl_openloop_max_q>
	<foc_hall_table__0>255</foc_hall_table__0>
	<foc_hall_table__1>166</foc_hall_table__1>
	<foc_hall_table__2>101</foc_hall_table__2>
	<foc_hall_table__3>134</foc_hall_table__3>
	<foc_hall_table__4>35</foc_hall_table__4>
	<foc_hall_table__5>0</foc_hall_table__5>
	<foc_hall_table__6>68</foc_hall_table__6>
	<foc_hall_table__7>255</foc_hall_table__7>
	<foc_hall_interp_erpm>500</foc_hall_interp_erpm>
	<foc_sl_erpm_start>2500</foc_sl_erpm_start>
	<foc_sl_erpm>4000</foc_sl_erpm>
	<foc_sample_v0_v7>0</foc_sample_v0_v7>
	<foc_sample_high_current>0</foc_sample_high_current>
	<foc_sat_comp_mode>2</foc_sat_comp_mode>
	<foc_sat_comp>0</foc_sat_comp>
	<foc_temp_comp>0</foc_temp_comp>
	<foc_temp_comp_base_temp>-5.7</foc_temp_comp_base_temp>
	<foc_current_filter_const>0.1</foc_current_filter_const>
	<foc_cc_decoupling>0</foc_cc_decoupling>
	<foc_observer_type>3</foc_observer_type>
	<foc_hfi_voltage_start>20</foc_hfi_voltage_start>
	<foc_hfi_voltage_run>4</foc_hfi_voltage_run>
	<foc_hfi_voltage_max>6</foc_hfi_voltage_max>
	<foc_hfi_gain>0.3</foc_hfi_gain>
	<foc_hfi_hyst>0</foc_hfi_hyst>
	<foc_sl_erpm_hfi>3000</foc_sl_erpm_hfi>
	<foc_hfi_start_samples>5</foc_hfi_start_samples>
	<foc_hfi_obs_ovr_sec>0.001</foc_hfi_obs_ovr_sec>
	<foc_hfi_samples>1</foc_hfi_samples>
	<foc_offsets_cal_on_boot>0</foc_offsets_cal_on_boot>
	<foc_offsets_current__0>2030</foc_offsets_current__0>
	<foc_offsets_current__1>2030</foc_offsets_current__1>
	<foc_offsets_current__2>0</foc_offsets_current__2>
	<foc_offsets_voltage__0>0.0003</foc_offsets_voltage__0>
	<foc_offsets_voltage__1>-0.0008</foc_offsets_voltage__1>
	<foc_offsets_voltage__2>0.0004</foc_offsets_voltage__2>
	<foc_offsets_voltage_undriven__0>0</foc_offsets_voltage_undriven__0>
	<foc_offsets_voltage_undriven__1>0</foc_offsets_voltage_undriven__1>
	<foc_offsets_voltage_undriven__2>0</foc_offsets_voltage_undriven__2>
	<foc_phase_filter_enable>1</foc_phase_filter_enable>
	<foc_phase_filter_disable_fault>1</foc_phase_filter_disable_fault>
	<foc_phase_filter_max_erpm>4000</foc_phase_filter_max_erpm>
	<foc_mtpa_mode>0</foc_mtpa_mode>
	<foc_fw_current_max>0</foc_fw_current_max>
	<foc_fw_duty_start>0.9</foc_fw_duty_start>
	<foc_fw_q_current_factor>0.02</foc_fw_q_current_factor>
	<foc_fw_ramp_time>0.2</foc_fw_ramp_time>
	<foc_speed_soure>1</foc_speed_soure>
	<gpd_buffer_notify_left>200</gpd_buffer_notify_left>
	<gpd_buffer_interpol>0</gpd_buffer_interpol>
	<gpd_current_filter_const>0.1</gpd_current_filter_const>
	<gpd_current_kp>0.03</gpd_current_kp>
	<gpd_current_ki>50</gpd_current_ki>
	<sp_pid_loop_rate>5</sp_pid_loop_rate>
	<s_pid_kp>0.004</s_pid_kp>
	<s_pid_ki>0.004</s_pid_ki>
	<s_pid_kd>0.0001</s_pid_kd>
	<s_pid_kd_filter>0.2</s_pid_kd_filter>
	<s_pid_min_erpm>900</s_pid_min_erpm>
	<s_pid_allow_braking>1</s_pid_allow_braking>
	<s_pid_ramp_erpms_s>25000</s_pid_ramp_erpms_s>
	<p_pid_kp>0.025</p_pid_kp>
	<p_pid_ki>0</p_pid_ki>
	<p_pid_kd>0</p_pid_kd>
	<p_pid_offset>0</p_pid_offset>
	<p_pid_kd_proc>0.00035</p_pid_kd_proc>
	<p_pid_kd_filter>0.2</p_pid_kd_filter>
	<p_pid_ang_div>1</p_pid_ang_div>
	<p_pid_gain_dec_angle>0</p_pid_gain_dec_angle>
	<cc_startup_boost_duty>0.01</cc_startup_boost_duty>
	<cc_min_current>0.05</cc_min_current>
	<cc_gain>0.0046</cc_gain>
	<cc_ramp_step_max>0.04</cc_ramp_step_max>
	<m_fault_stop_time_ms>500</m_fault_stop_time_ms>
	<m_duty_ramp_step>0.02</m_duty_ramp_step>
	<m_current_backoff_gain>0.5</m_current_backoff_gain>
	<m_encoder_counts>8192</m_encoder_counts>
	<m_encoder_sin_amp>1</m_encoder_sin_amp>
	<m_encoder_cos_amp>1</m_encoder_cos_amp>
	<m_encoder_sin_offset>1.65</m_encoder_sin_offset>
	<m_encoder_cos_offset>1.65</m_encoder_cos_offset>
	<m_encoder_sincos_filter_constant>0.5</m_encoder_sincos_filter_constant>
	<m_encoder_sincos_phase_correction>0</m_encoder_sincos_phase_correction>
	<m_sensor_port_mode>0</m_sensor_port_mode>
	<m_invert_direction>0</m_invert_direction>
	<m_drv8301_oc_mode>0</m_drv8301_oc_mode>
	<m_drv8301_oc_adj>16</m_drv8301_oc_adj>
	<m_bldc_f_sw_min>3000</m_bldc_f_sw_min>
	<m_bldc_f_sw_max>35000</m_bldc_f_sw_max>
	<m_dc_f_sw>25000</m_dc_f_sw>
	<m_ntc_motor_beta>3380</m_ntc_motor_beta>
	<m_out_aux_mode>0</m_out_aux_mode>
	<m_motor_temp_sens_type>0</m_motor_temp_sens_type>
	<m_ptc_motor_coeff>0.61</m_ptc_motor_coeff>
	<m_ntcx_ptcx_res>10000</m_ntcx_ptcx_res>
	<m_ntcx_ptcx_temp_base>25</m_ntcx_ptcx_temp_base>
	<m_hall_extra_samples>1</m_hall_extra_samples>
	<m_batt_filter_const>45</m_batt_filter_const>
	<si_motor_poles>20</si_motor_poles>
	<si_gear_ratio>1</si_gear_ratio>
	<si_wheel_diameter>0.083</si_wheel_diameter>
	<si_battery_type>0</si_battery_type>
	<si_battery_cells>3</si_battery_cells>
	<si_battery_ah>6</si_battery_ah>
	<si_motor_nl_current>1</si_motor_nl_current>
	<motor_brand>Unnamed</motor_brand>
	<motor_model>Not Specified</motor_model>
	<motor_weight>0</motor_weight>
	<motor_sensor_type>1</motor_sensor_type>
	<motor_description><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
	<html><head><meta name="qrichtext" content="1" /><style type="text/css">
	p, li { white-space: pre-wrap; }
	</style></head><body style=" font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;">
	<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">A motor description can be edited here.</p></body></html></motor_description>
	<motor_quality_bearings>0</motor_quality_bearings>
	<motor_quality_magnets>0</motor_quality_magnets>
	<motor_quality_construction>0</motor_quality_construction>
	<motor_quality_description><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
	<html><head><meta name="qrichtext" content="1" /><style type="text/css">
	p, li { white-space: pre-wrap; }
	</style></head><body style=" font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;">
	<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Some comments about the motor quality. Images can be added as well.</p></body></html></motor_quality_description>
	<bms.type>1</bms.type>
	<bms.limit_mode>3</bms.limit_mode>
	<bms.t_limit_start>45</bms.t_limit_start>
	<bms.t_limit_end>65</bms.t_limit_end>
	<bms.soc_limit_start>0.05</bms.soc_limit_start>
	<bms.soc_limit_end>0</bms.soc_limit_end>
	<bms.fwd_can_mode>0</bms.fwd_can_mode>
	</MCConfiguration>