kv rating to the commander

Author: askuric

src/communication/Commander.cpp

@@ -212,18 +212,23 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
        }
       break;
     case CMD_RESIST:
-      // enable/disable
       printVerbose(F("R phase: "));
       if(!GET){
         motor->phase_resistance = value;
-        if(motor->torque_controller==TorqueControlType::voltage){
-          motor->voltage_limit = motor->current_limit*value;
+        if(motor->torque_controller==TorqueControlType::voltage)
           motor->PID_velocity.limit= motor->current_limit;
-        }
       }
       if(_isset(motor->phase_resistance)) println(motor->phase_resistance);
       else println(0);
       break;
+    case CMD_KV_RATING:
+      printVerbose(F("Motor KV: "));
+      if(!GET){
+        motor->K_bemf = 1.0f/value;
+      }
+      if(_isset(motor->K_bemf)) println(1.0f/motor->K_bemf);
+      else println(0);
+      break;
     case CMD_SENSOR:
       // Sensor zero offset
        printVerbose(F("Sensor | "));

src/communication/commands.h

@@ -15,6 +15,7 @@
  #define CMD_SENSOR    'S' //!< sensor offsets
  #define CMD_MONITOR   'M' //!< monitoring
  #define CMD_RESIST    'R' //!< motor phase resistance
+ #define CMD_KV_RATING 'K' //!< motor kv rating
  #define CMD_PWMMOD   'W' //!< pwm modulation
 
  // commander configuration