[MPaulHolmes]

I'm coming up with a set of test conditions that will let us know automatically if a particular P and I are no good. Here's the checklist so far:


1. If an error goes below -80, move to next Kp and Ki. Too much negative overshoot.
2. after going below 0, if anything goes ABOVE 100, move to next Kp and Ki. Too much oscillation.
3. If it doesn't go below 0 before 30 iterations, move on! Convergence too slow.
4. The error starts out as about 512. If the error gets much bigger than 512, move on.

The good news is this can all be checked on the PI error array without us doing anything. So, maybe we can use this test to get a much smaller list of curves that we can examine. Then we can pick the best of the bunch. Or if all candidates fail the test, we can modify the x, y, and z above, to make it easier to pass the test. Or we can get a different ratio for Kp to Ki. Or we could make the x,y,z above more restrictive if there are too many candidates that pass. The more restrictive, the better the convergence.

The code is done, and now just needs to be tested. This is going to be much faster!