[thingstodo]

Now that I have it working again, time for some testing.

The text files are attached with a couple of spreadsheets to show the graphs. I don't see a bunch of difference in the graphs myself. The graphs may be a lot easier to read, or show much more change with the changing parameters, with a higher voltage pack.

When I tune a loop at work, the drill is:
- increase the gain (kp) until you see over-shoot and oscillation
- decrease the gain until you get about 10% overshoot
- raise the integral (ki) until the oscillation drops to 3 or 4. Initial overshoot is the first half-wave, smaller overshoot below, another smaller overshoot above, and then it hits target

I think I've been assuming too many things on this process. I need to stop thinking and just follow instructions .. but I'm an engineer and this is *DIFFICULT* for me!

If any of these numbers is acceptable, I'd like to get the motor to spin and see if the encoder signal is acceptable to the controller. Once I've got the 5 HP motor to spin and the controller is reading position, I am comfortable moving to the larger Siemens motor at a higher voltage (in the garage). That's where the interesting stuff is going to happen (I hope).

kp-id 2000
ki-id 0
run-pi-test
File 25

kp-id 2000
ki-id 2
run-pi-test
File 26

kp-id 2000
ki-id 4
run-pi-test
File 27

kp-id 2000
ki-id 6
run-pi-test
File 28

kp-id 2000
ki-id 10
run-pi-test
File 29

kp-id 2000
ki-id 15
run-pi-test
File 30

kp-id 2000
ki-id 20
run-pi-test
File 31

kp-id 2000
ki-id 30
run-pi-test
File 32

kp-id 2000
ki-id 50
run-pi-test
File 33

kp-id 2000
ki-id 75
run-pi-test
File 34

kp-id 2000
ki-id 100
run-pi-test
File 35

kp-id 2000
ki-id 200
run-pi-test
File 36