[motorulf]

I connected 75V.
I tried to manually tune the kp and ki. i am not very good at it.
I ran pi-test, and pi-test 2. Looks like this:

run-pi-test
The test was a success.  If you are staying with this bus voltage, type 'save':
If you change your bus voltage, you should rerun the command 'run-pi-test'.

config
motor-type=1
kp=17422 ki=00281
current-sensor-amps-per-volt=0320
max-regen-position=0360
min-regen-position=0420
min-throttle-position=0500
max-throttle-position=0600
fault-throttle-position=0020
max-battery-amps=0015 amps
max-battery-amps-regen=0015 amps
max-motor-amps=025 aps
max-motor-amps-regen=025 amps
precharge-time=0050 tenths of a sec
rotor-time-constant=030 ms
pole-pairs=002
max-rpm=06000 rev/min
throttle-type=0
encoder-ticks=0256 ticks/rev
pi-ratio=062
raw-throttle=0479

run-pi-test2
+0019,+0539,+0520,+0492,+0465,+0373,+0253,+0151,+0177,+0209,+0235,+0248,+0223,+0203,
+0184,+0128,+0096,+0055,+0168,+0188,+0145,+0117,+0067,+0128,+0115,+0088,+0091,+0104,
+0087,+0056,+0065,+0064,+0058,+0066,+0071,+0076,+0090,+0083,+0080,+0057,+0056,+0082,
+0074,+0036,+0060,+0067,+0062,+0017,+0020,+0028,-0022,+0038,+0029,+0034,+0059,+0103,
+0089,+0037,+0022,+0030,+0077,+0021,+0012,+0033,+0039,+0038,+0026,+0008,+0006,+0012,
-0018,-0006,+0033,+0062,+0063,-0007,-0034,+0023,+0024,+0039,+0016,+0003,+0032,+0070,
+0016,+0004,+0020,-0018,+0003,+0015,+000+0025,+0018,+0043,-0002,-0034,-0018,+0048,+0
018,-0014,+0003,-0056,-0072,-0027,+0010,+0040,+0042,+0061,+0025,-0022,+0001,+0015,+0
005,+0006,+0005,+0001,-0009,-0006,-0008,-0036,-0044,-0004,+0017,+0045,-0016,-0022,-0
021,-0006,+0033,+0032,+0002,-0003,-0006,-0010,-0003,-0021,-0012,+0004,+0023,+0027,+0
022,+0011,-0001,-0002,+0002,+0002,+0011,+0013,-0023,-0056,-0086,-0042,-0019,+0023,+0
049,+0017,+0022,+0008,+0000,-0011,-0005,-0012,-0022,-0040,-0020,-0016,-0006,+0028,+0
013,-0007,-0041,-0034,-0035,-0014,+0041,+0052,+0012,-0034,-0082,-0018,+0001,-0002,+0
024,+0014,-0009,-0004,-0018,-0035,-0005,+0026,-0034,-0062,-00017,+0020,-0018,-0054,-
0038,+0033,,-0007,-0016,-18,-0015,-0016,-0007,-0058,-0033,-0049,-0053,+0020,+0078,+0
032,-0041,-0019,-0013,-0017,-0017,-0025,-0049,-0035,-0023,+0027,+0027,+0011,-0067,-0
085,

Then i was trying to do the rotor-test.
It never does anything. no humming, no movement.
So i tried altering the rotor-time-constant myself. I find that hard too.
After much testing i decided that somewhere around 50-60 gives the fastest acceleration.
Is that what to look for?
And does the ki and kp look resonable?
How do i calculate the rotor-time-constant if i have resistance and inductance?
I have an old scope so i guess i can calculate the inductance of the motor.

My testing had to be put on hold for a while, -35°C outside now.
I had to fetch some fire wood and try to heat up this place a bit. The cat was complaining hehe