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OK, now we are in business. There was a bug before. I think it came from teh fact that I was using a different current sensor, and I hadn't updated your hex file (before stolen car. lol) to reflect that you are using the lem hass 300-s. Try larger values of kp-id. Do that doubling trick you have. 2,4,8,16,... It is finally workign like it should! It won't be logn now!!!!! I don't even care that I"m asdf pelling things wrong I'm so happy! haha
EDIT: Maybe start at 2000 and go either up or down from there FOR kp-id. Keep ki-id = 0 for now.
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