[MPaulHolmes]

I've been trying to get it running for the last couple days. I've got the resolver to encoder working, and the PI loop tuned. I've never seen behavior like that before when tuning the PI loop. At 48v it would take around 0.01 sec to converge. Every other motor I've ever tried would converge in 0.001 sec to 0.002 sec. When I tried 120v it would converge in 0.003 sec. Also, I got it to run "smoothly for a fraction of a revolution, and then it sloshes back and forth (but very smoothly). I'm becoming convinced that it's like 50% synchronous and 50% reluctance. I don't think you can just ignore the reluctance component, even for casual testing to get it to spin. What seems to be happening is, it rocks back and forth between where the reluctance component is near zero and where the synchronous component is near zero. So, what I"m going to do is get the reluctance correction code running on the Leaf motor (since that seems to be like 90% synchronous 10% reluctance), and then switch back to the mgr.