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I might know what the problem is. Remember how i had to change the PI code so that it ALWAYS did the PI, even at zero throttle in the case of the permanent magnet motor? Some weird behavior happened with your motor when it went to zero from nonzero. The slip speed and electrical speed went way negative, and then WAY WAY positive for an instant. I'm thinking that's because your code still has the old way of dealing with transition from nonzero throttle to zero. I need to get you an updated .hex file.
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