[gpetilli]

Agreed you must switch to kSpeed. You will need different P I D numbers when you switch to kSpeed. For tuning speed mode, start with the I number (not P as you would for kPosition). Once you have an I you like, you can ramp up P to tame minor oscillations. Always set D to zero in speed mode. There are several posts which give more details on tuning CANJaguar kSpeed controllers.