message: current control bandwidth lowered for high inductance wheels. TODO Make configurable
diff: @@ -57,7 +57,7 @@ void Motor::reset_current_control() {
  // TODO: allow update on user-request or update automatically via hooks
  void Motor::update_current_controller_gains() {
  // Calculate current control gains
  - float current_control_bandwidth = 1000.0f; // [rad/s]
  + float current_control_bandwidth = 100.0f; // [rad/s]
  current_control_.p_gain = current_control_bandwidth * config_.phase_inductance;
  float plant_pole = config_.phase_resistance / config_.phase_inductance;
  current_control_.i_gain = plant_pole * current_control_.p_gain;
  