What is the difference between iref & ipeak?

note

• This answer is related only to controllers
• Both parameters are placed in /driver folder.

• iref is the reference current to the PID current control loop.
• ipeak is the absolute current limit

The PID control may not always be flawless and may result in overshooting at times. However, the IPEAK comes into action and effectively eliminates the overcurrent. You will be notified of the overcurrent detection by displaying the message "overcurrent detected" in the terminal, and the corresponding flag in /driver/state will be set.