Paul sent me the code yesterday.
Loaded it tonight via PICkit 3. Power up with 12V, connected to the ACController with hyperterminal (on an XP computer)
Capture file copies text from the terminal to a text file. You open that up with notepad and copy the numbers to column A of an excel sheet. Insert a chart using column A as the source and line graph. You are hoping to see the numbers drop to 0 as quickly as possible and perhaps bounce around a bit.
You set the numbers for kp-id and ki-id each test and capture the new data. You are not looking for the numbers to wander up and down on their way down to 0. When that works, you increase ki-id from 0 to get it to converge to 0.
Capture file 1. Paul sent me some numbers that worked for him.
kp-id 4668
ki-id 0
run-pi-test
Numbers start at 259 and bounce from 243 to 274 .... oops! no high voltage turned on!
Let's try that again
Capture file 2
Starts at 290 and rings but it responds so I'll start at 2000 like the instructable says. By the way, 4668 takes a long time to get to 0 (about 200) compared to the 11 that Paul's instructable graphs show.
Capture file 3
kp-id 2000
ki-id 0
run-pi-test
2000 takes until about 184 to hit 0, WAY slower than it should. It still looks like it is ringing
Capture file 4
kp-id 1000
ki-id 0
run-pi-test
1000 takes until about 180 and still rings. Not much change halving the KP
Capture file 5
kp-id 500
ki-id 0
run-pi-test
500 takes a bit less, like maybe 174 and still rings
Capture file 6
kp-id 100
ki-id 0
run-pi-test
100 takes about 180 to get to 0
Capture file 7
kp-id 10
ki-id 0
run-pi-test
10 takes about 170 to get to 0
There is not a huge difference between the responses varying KP = 10 and KP = 4668. That is weird!
Capture file 8
kp-id 10000
ki-id 0
run-pi-test
Go the other way. 10000! This is set 8 by the way. It takes until 470 to reach 0 and still rings badly. 10000 is the worst response so far.
I can hear the short whine from the motor as the pi-test runs. And the numbers DO change, so I know something is happening. But it's almost like my current sensor is not plugged in well?
My battery pack is 36V (40.1V Open circuit) since I put the boat battery back into the boat
I'm going to get the capture files attached.
BTW - the instructable shows setting kp-iq and kd-iq instead of kp-id and ki-id. I'll try that after re-seating the current sensor plugs!