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Paul, FWIW I used a BT serial port on my robot to send all of the current time and measurements out to my PC. I would captures these in Hyperterm, save them to a text file and import into excel. I also wrote a small "menu" so I could change the constants and capture the results to see if I over or under damped.
In the attached image, the Yellow is the commanded speed. My speeds are from -50 to + 50 (that's a relative unit of measure given my encoder resolution and how fast I'm sampling them). In the example I command from 0 to 20 then to 0 to then 4 then to 0. The blue is actual measured speed.
Jay
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