[Mr. Lim]

Sounds good to me.

We use a 10 turn pot on our turret, so our inputs range from 0 to 10. Our P value is around 700.

Depending on which motors you are using and your gearing, it sounds like it's in the ballpark.

An I value of .4 (if you choose to use it) also sounds in the ballpark.

We had issues with the I value due to the nature of our turret. There is a tiny little bit of free play in it, and we have some elastics tied to it to help manage our wire bundles. It created some interesting dynamics, and adding an I value caused wind-up over time, and then the turret would "spontaneously" overshoot and drift away from the setpoint.

We opted for a P-only loop, and tuned our P value by increasing it to the point of instability, then dialled it back. It still overshoots and oscillates a tiny little bit, but it still gets there plenty fast, and most importantly it stays put once it does.