[mikets]

Actually, few more questions: is the kPercentVbus mode essentially kVoltage but just scale to the range of -1.0 and 1.0? Only kSpeed and kPosition modes use encoder/potentiometer? Are kVoltage and kCurrent modes also considered close-loop modes? To me, close-loop means feedback. Monitoring output voltage and current so it can maintain constant values seem close-loop to me too even though it is not using any "external sensors" such as encoder and potentiometer.

Thanks.