[dsirovica]

We have the same issue on jerkyness at low speed. Still trying to figure that one out... see other threads on CANbus Control. We wrote our own PID code, but may move to the Jag intrenal PID to offload cRio.

But on the Kp we had the same result as others. Kp alone will always yields a top speed of approx 1/2 setpoint. Ki however, does a beatiful job at reaching setpoint and (in our configuration) became the dominant control force.