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Paul!! CONGRATS! (been gone all weekend, missed 2 pages of posts!)
Huge milestone complete with ZERO burn wounds!
Okay, i need to be honest here... your control algorithm sucks. I am going to write a new one for you when I get a chance. How's this for a concept - Pedal position is DIRECTLY proportional to CURRENT. This way, your current limiter only matters in hardware failure, your low-RPM cruising is just as easy to control as your high RPM driving, you get fine current control in all situations. Pedal up is 0amps, floored is 499amps - always.
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