[thingstodo]

The current sensor cables appear to be plugged into the control board right. I removed the mounting screws for the control board, lifted the board and re-seated the 3 current sensor cables.

That does not appear to have helped.

The instructable showed setting kp-iq and kd-iq instead of kp-id and ki-id

I tried that for test 10. The results were similar to the battery pack turned off. They are also similar to kp-id 0 and ki-id 0. There was no whine from the motor.

I tried the minimum kp-id 1. test 11. There was no result and no whine. So I cycled power and tried again.

Log 12. kp-id 1 ki-id 0. There was a whine this time. 0 at about 182.

Log 13. kp-id 5 ki-id 0. 0 was reached around 158. This is the best so far but there is still *SERIOUS* ringing.

Files are attached - I don't understand!