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Oh you don't need to graph it. I wasn't thinking. Just notice that it REALLY SLOWLY approaches zero. Zero means Id and Iq have officially converged to their commanded values. Your PI values are too small. Would it be practical to do the testing with like 50 volts instead of 25v? Now that it's being a little better behaved it might be safe. Either way, I'd try maybe doubling both Kp and Ki and run
run-pi-test2 again. The goal is to get the numbers to race to zero in maybe 20 or 30 or whatever iterations. like this:
511, 490, 400, ..., 50, 0, -50, 0, 20, (hurray, it converged!)
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