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mitsui:
What current sensors are you using? For high powered applications, +/-3amp is pretty normal for the swing. Even at zero throttle, the controller is actively commanding 0 torque (Iq = 0). When it's in a car (or gocart) you don't notice it. Since it's torque command and not speed command, it's not intended for applications where it's unloaded. The only reason why I can think it is running rough is wrong PI values or some issue with a position sensor.
Thank you for the kind words Chaz!
arber, I've only tested the leaf motor with the stock resolver. I can't say what is happening there.
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