When using Id = 0, NOMINAL_CURRENT is utilized to saturate the output of the PID for speed regulation (i.e. reference torque). Transformation of real currents (A) into int16_t format must be done accordingly with formula: Phase current (int16_t 0-to-peak) = (Phase current (A 0-to-peak)* 32767 * Rshunt * *Amplifying network gain)/(MCU supply voltage/2)