I need to implement runtime current limitation.
Another thread says to use "PID_SetUpperOutputLimit" on the PidSpeedHandle for that to change the values originally defined by IQMAX, which makes sense.
However, I also found NOMINAL_CURRENT used for MaxPositiveTorque and MinNegativeTorque in SpeednTorqCtrl, which has been set by the MCWB tool to the same value as IQMAX.
What are these values used for? Do I have to change them as well? There doesn't seem to be a function for that.
NOMINAL_CURRENT is not mentioned in the SDK documentation and a comment in pmsm_motor_parameters.h only says it is used when Id = 0 "to saturate the output of the PID for speed regulation" (so it does the same than changing IQMAX?), even though there's no Id to set anywhere.
