Pfmc variable id list
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case 9 : pf = &lf_ctrl.sample_rate; break; case 10 : pf = &lf_ctrl.lw_force; break; case 11 : pf = &lf_ctrl.force_desired; break; case 13 : pf = &lf_ctrl.pid_cmd; break; case 14 : pf = &lf_ctrl.ff_cmd; break; case 15 : pf = &lf_ctrl.ec_cmd; break; case 16 : pf = &lf_ctrl.motor_torque; break; case 30 : pf = &lf_ctrl.ff_force_gain; break; case 31 : pf = &lf_ctrl.ff_vel_gain; break; case 32 : pf = &lf_ctrl.ff_torq_vel_gain; break; case 101 : pf = &lf_pid.kp; break; case 102 : pf = &lf_pid.ki; break; case 103 : pf = &lf_pid.kd; break; case 104 : pf = &lf_pid.err; break; case 105 : pf = &lf_pid.i_err; break; case 106 : pf = &lf_pid.max_i_torque; break; case 107 : pf = &lf_pid.t_p; break; case 108 : pf = &lf_pid.t_i; break; case 109 : pf = &lf_pid.t_d; break; case 110 : pf = &lf_pid.pid_sum; break; case 200 : pf = &lf_ctrl.sine_amp; break; case 201 : pf = &lf_ctrl.sine_freq; break; case 203 : pf = &lf_ctrl.sine_sweep; break; case 204 : pf = &lf_ctrl.dt; break; case 205 : pf = &lf_ctrl.min_dt; break; case 206 : pf = &lf_ctrl.max_dt; break; case 207 : pf = &lf_ctrl.sin_time; break;
