[thingstodo]

Plan B revisited

I added two older batteries (I think they came from a floor sweeper about 5 years ago) to the pack. That brings the voltage to 79.1V. A charger on the weakest ... by the end of the testing the voltage was up to 79.3V

I re-ran the pi-test with the same parameters as yesterday, but with the larger pack (higher voltage).

The results look *VERY* much different. I guess the voltage was just too low for the Kp and Ki values to make a lot of difference!

I think the Kp-id=2000, Ki-id=320 looks like the best fit from me.