[MPaulHolmes]

Jack, you are amazing. You go from theory to operation in like zero time. Those cells are awesome!

It might not feel as sensitive once there's a heavier load on the motor. It's trying to make the current the same as the throttle position, but as soon as the motor starts to spin really fast under a little load, not much current is going through M-, so pwm gets ramped up as high as it can go in the vain attempt to get throttle and current to match.

Try messing with throttle-pos-gain and throttle-pwm-gain. Like throttle-pos-gain = 128, throttle-pwm-gain 120, as an extreme contrast. Maybe just start with 16,8. or 24,16 etc...