Amps Applied

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To compute the current (Amps) applied to a motor:

 

sqrt(Motor[x].IqMeas*Motor[x].IqMeas + Motor[x].IdMeas*Motor[x].IdMeas) * MaxADC / 32768.0 * 2 / sqrt(3.0)

 

Where MaxADC is the number of amps that saturate the amplifier's current ADCs. This value is listed in the manual under "Electrical Specifications" for the amplifier you are using.