message: add docs to current sense saturation and current limit violation
diff: @@ -509,7 +509,21 @@ interfaces:
  BrakeDeadtimeViolation:
  UnexpectedTimerCallback:
  CurrentSenseSaturation:
  - CurrentLimitViolation: {bit: 12}
  + brief: The phase current was outside the measurable range.
  + doc: |
  + There is a default 10% margin between the max allowed current and the measurable current range.
  + This is usually sufficent, but in some situations you may need some more margin. You can simply
  + decrease the `current_lim` a bit, or you can increase the `requested_current_range`. If you
  + still have issues after `requested_current_range` is 30% higher than `current_lim` then
  + you may have instability issues in the current controller.
  + CurrentLimitViolation:
  + bit: 12
  + brief: Motor current magnitude exceeded the limit and margin.
  + doc: |
  + There is a default of 8A margin between the `current_lim` and this error. In some
  + situations the current controller may overshoot a bit more than this, so you can try to
  + turn this up a bit. If you still have issues after the margin is more than 30% of your
  + `current_lim` you may have stability issues in the current controller.
  BrakeDutyCycleNan:
  DcBusOverRegenCurrent: {doc: too much current pushed into the power supply}
  DcBusOverCurrent: {doc: too much current pulled out of the power supply}
  