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What PI values did you get when it said it passed the test? Could you try (at least for now)
rotor-time-constant 30
And make sure you have the good Kp and Ki that you found from the PI test. Also make sure it has the correct 2 pole pairs. If you don't type "save" it will go back to defaults.
Also, just to make sure, could you do the following:
stream-mechanical-speed 1
data-stream-period 1000
Then, twist the motor shaft by hand and see which way it thinks is positive rotation, and also verify that it is giving a good value for revolutions per minute. Just to make sure the encoder is working right. Then turn it the other way to verify that it shows negative rpm. Does all of that work?
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