balance/u2can/__pycache__/DM_CAN.cpython-312.pyc

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        :param kd: kd
        :param q:  position  期望位置
        :param dq:  velocity  期望速度
        :param tau: torque  期望力矩
        :param delay: delay time 延迟时间 单位秒
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        :param P_desired: desired position 期望位置
        :param V_desired: desired velocity 期望速度
        :return: None
        z*Control Pos_Vel Error : Motor ID not foundN<64>
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        :param Pos_des: desired position rad  期望位置 单位为rad
        :param Vel_des: desired velocity rad/s  期望速度 为放大100倍
        :param i_des: desired current rang 0-10000 期望电流标幺值放大10000倍
        电流标幺值：实际电流值除以最大电流值，最大电流见上电打印
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        :param Motor: Motor object 电机对象
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        :param Motor: Motor object 电机对象
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