Glad you nailed down that detail of the PI controller
It doesn't have to get it right, it just has to get *closer*. The system characteristics (overshoot, settling time, etc) describe HOW it gets closer. Obviously you're a more ambitious person than I am, so just post your code or PM it to me and I'll give it a read.
I REALLY want to make a high-end control board for this project... but i just don't have the time. I see so much potential with a better processor and more inputs. What do you think it would take to have seperate inputs for battery voltage, batt current, motor volts, motor current? It would be nice to develope a "console" for it, as well as some SDcard datalogging (with gps, of course
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