[ozrien]

The selected Sensor Velocity (-439.57) is negative while the appliedThrottle is positive (100%).

This means the sensor and motor is NOT in-phase.

As a result, the ClosedLoopErr is moving away from zero the more the motor-drives.

Please look at Section 7.4 more closely, and use the reverseSensor() function to adjust the sensor direction so that positive drive moves the position in a positive direction. (Section 7.3).