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It should work a lot better for you now. Also no more outputting every possible P and I all the way to 20,000. I've also attached what a typical rotor test might look like with an encoder. It runs through all possible rotor time constants from 0.005sec up to 0.055 seconds. Mine worked best today with 0.049 sec. Some days it was good with 0.031 sec. They say the time constant varies quite a bit since the rotor inductance changes based on temperature. I guess they weren't joking.
EDIT: NEVER MIND. my best was about 0.028 or 0.029, just like normal. haha. that means I need to fix the "automatic save of best rotor time constant" feature since it updated the rotor time constant with the last value tested.
Also, now if there's any fault, it will automaically be immediately displayed on the screen through the serial port. And it will say which fault it is.
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