[bohdand]

gpetilli,

Thank you for posting your tuning steps. I've tried to use them and I am getting unusual results and hoping you might be able to provide some guidance.
We are using velocity closed loop mode, CTRE Mag encoder in Relative.

I've set PIDF all to zero, set a RPM speed of 1000 RPM and increased F to 0.84 to obtain ~1006 RPM. Once I start to increase P - in this case 0-> 0.1 the speed slows down to to 600 RPM. If I add some I, the motor goes to max reverse speed (~1200).

Any help would be appreciated.

Thanks,

bohdand