Merge pull request #357 from tinymovr/docs/resistance-and-inductance-…

…limits

Add motor resistance and inductance limitations table

docs/hardware/gimbal.rst

@@ -1,3 +1,5 @@
+.. _gimbal-motors:
+
 *************
 Gimbal Motors
 *************
@@ -28,6 +30,9 @@ To achieve closed-loop current control, motor controllers such as Tinymovr use c
 
 The gimbal mode of Tinymovr disables closed-loop current control. The commanded currents are converted to voltages using basic resistance and inductance formulas. 
 
+
+.. _enabling-gimbal-mode:
+
 Enabling Gimbal Mode
 --------------------
 

docs/hardware/guide.rst

@@ -36,6 +36,26 @@ Most gimbal motors can be used with Tinymovr M5. Gimbal motors are essentially o
 
    * Motors with trapezoidal back-EMF can also be controlled, but control will be sub-optimal. The trapezoidal back-EMF will appear as residual in the dq frame, as a result it will be much harder for the current controller to regulate phase currents. The tangible result is that the motor may exhibit increased noise and vibration while running.
 
+Limitations
+***********
+
+Tinymovr controllers are designed with certain limitations in terms of motor internal resistance and inductance, to ensure optimal closed loop current control performance.
+
+.. list-table:: Motor Limits
+   :header-rows: 1
+
+   * - Controller Version
+     - Phase Resistance (ohms)
+     - Phase Inductance (henries)
+   * - Tinymovr R5.x and R3.x
+     - 0.01 to 1.0
+     - 5e-6 to 1e-3
+   * - Tinymovr M5.x
+     - 0.5 to 20.0
+     - 1e-5 to 1e-2
+
+Note that motors with parameters outside this range will result in calibration failing. Ensure that the motors you select adhere to these parameters for the best operational experience. You can still use motors outside this range with open loop current control, through :ref:`enabling-gimbal-mode`.
+
 
 Mechanical Setup
 ################