[steve d]

What would be some typical gains? I'm playing with a bench setup here, motors aren't really loaded or is follow-up pot connected, tough doing it open-loop. I have a gain of 1 for P term, 10/100 for I and D. Seems pretty good, If I up the I gain to 25/100, the error builds up fast and I suspect the real thing will overshoot.
We're using it to "slave" the arm position to the joystick position.