[MPaulHolmes]

OK the Kp 41,000 is way too big. It is probably resulting in some overflows in software. Are you sure that was the result of a PI test? It is supposed to stop at like 17,000 or something like that. I better check the code on that. Stick with The 3333, 50 for this second. It is most likely too small of a value, since the lower the voltage the higher the Kp and Ki required, but let's just see if they work for now.

reconfigure the throttle.

For throttle, if minimum is 300 and maximum is 600, do the following:

max-regen-position 300
min-regen-position 400
min-throttle-position 500
max-throttle-position 600

That will give a good sized deadzone of 401 to 499. Then, if the throttle will stay naturally in the dead zone (no spring pulling it to zero?), type the following:

stream-idref 1
stream-iqref 1
stream-id 1
stream-iq 1
stream-percent-volts 1
stream-raw-throttle 1
stream-mechanical-speed 1
data-stream-period 1000

Then, slowly give it some throttle until it gets into the 500-600 range. Does it spin? Let data stream for a second while in that range. Could you post that data? It can be saved to file, and pasted into excel (comma delimited), or you coudl just get a screenshot of the streaming data.

EDIT: You found a software bug in the run-pi-test! I'm going to fix that.