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You promise it's only once more? Haha. I'm happy to email it to anybody that wants it. But a lot of coding critique is style critique. Don't use globals. Break that up into separate files, etc... but my style is my style and is easiest for me to get it done. If you want to post it wherever you want, go ahead. now I have a path for tuning Id and Iq pi loops thanks to eV tech suggestions (but those aren't code specific suggestions), and then just need to find the right rotor time constant. I found a process in an ebook for that now that can be programmed into the controller so each person can identify their respective time constant, which unfortunately is unique to their motor.
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