Some math equations

For VECTOR

Motor current vs. iref

$iref >= \sqrt{ /driver/motor/currentd^2 + /driver/motor/currentq^2 }$

If driver mode = 2 (current) and cmd = 1, left and right side are equal

Motor voltage vs. uref:

$uref >= \sqrt{ /driver/motor/voltaged^2 + /driver/motor/voltageq^2 }$

If driver mode = 1 (voltage) and cmd = 1, left and right side are equal

$ubat >= uref * \sqrt{3}$

$U_{link} = \sqrt{ /driver/motor/voltaged^2 + /driver/motor/voltageq^2 } * \sqrt{\frac{3}{ 2}}$

$U_{link} =$ Voltage measured by multimeter betveen 2 phases