[MPaulHolmes]

Thank you for your suggestions, RedRod. Otmar, the guy who makes the Zilla controller, agrees with you about the current usually not changing that fast on an EV motor. He said that in the case of an EV motor, the ONLY time a PI loop is needed is with a LOCKED ROTOR (the car in gear, with the emergency brake on, and then press the gas pedal really hard from 0 rpm!) With hardware current limiting, you don't need to worry about that special case, because the hardware shuts off the current in about 3 us, which is plenty of time, because the mosfets together can handle like 5000 amps (or something ridiculous) for that amount of time.