sweet! I'll give that a try.
I tried to come up with something that integrates the throttle to PWM and a PI loop and couldn't do it. Only thing I could come up with was using a PI loop in the 2nd term if current>pwmDuty.
Here's another idea  maybe kinda hairbrained. what if the the throttle didn't control PWMduty or current, but controlled output power. PWMduty is proportional to output voltage, we're measuring current, so the product of those two would be power (or something proportional to power).
I have no idea if this would work, i haven't thought through the details. well, i'm sure we can get it to work, but i don't know how it'd result in 'feel'.
think about it...
