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Ya, I changed a few things. During the instructables test, it was using a LEM Hass 50-s, with like 5 wraps around it, so it was behaving like a LEM Hass 10-s. That is 30 times more sensitive than the LEM Hass 300-s you are using. So, I figured it would be good to up the amps a bit for the test, since 1 amp is barely resolvable on a lem 300. It's probably fine to just use the 36v. It will just mean slower convergence, but that's not a big deal. Convergence is convergence. Then later, when you increase the voltage, the kp and ki you found will have to change accordingly. For example, if you tune the PI loop at 36v, and later up the voltage to 360, you will have to divide the kp and ki you found by 10 (since the voltage is now 10 times more).
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