[Chaube97]

Thanks! How many rotations would the encoder have then? I don't know where to find the setpoint-process_variable error, but the ClosedLoopError variable in the self-test section is 200. The motor not going 500 is probably a result of me messing with the PID variables. I was changing the P variable around to see the ocsillation and other things. The motor goes a velocity of 300 when my P = 1.5, and my I and D equal 0.