[kamocat]

Well, I tested it again today on the BDC-COMM. I think last time I had only tested the Proportional term, and my observations were based off of that.
The integration works with no problem, and is even scaled correctly. However, I can't seem to get the Proportional term anywhere near high enough to get the motor up to the correct current, because it keeps oscillating.
Okay, so if my 12v motor draws about 2 amps full speed (with no load), then I should want my proportional constant to be 6, so that when I make the setpoint 2A, then the controller will provide full voltage (12v). That is, that would be the case if it were always referenced off of zero, and not the current error.

But check this out:
If I have my setpoint at 40A, and my proportional coefficient coefficient at 1, then it outputs 3.5 volts. (It also says my motor is drawing 2.25A at this low speed) Apparently, 1*(40-2.25) = 3.5 (Or rather, 3.5÷12 full power)
Does that mean that somewhere in here something's scaled incorrectly? However, if I include a little integration (about 0.004) , it quickly jumps up to max speed.
Likewise, when the Proportional coefficient is at 2, setpoint at 40A, the controller outputs 7v (2.5A).
With a coefficient of 3, it outputs 10.7v, oscillating between 1.9 and 2.4A.
And with a coefficient of 3.25, it outputs full voltage, the motor drawing 1.7A.

So, judging by the fact that these outputs are constant (no change, no oscillation), I would infer the Jaguars draw their error not from the setpoint – process variable, but from setpoint - 0. (The Integral parameter probably uses setpoint – process variable)

Thus, with a small Proportional coefficient, the process variable will never even get close to the setpoint, as was observed here.

However, if I make my setpoint 4 Amps, and my Proportional coefficient 10, my motor is very clearly oscillating. (The amperage reads anywhere between 4 and zero)
Perhaps, you might say, the Proportional component is "maxing out" somewhere, thus preventing the oscillation. This is possible, but isn't it strange for the proportional term to "max out" at such a low value, yet scale up with the proportional term and the setpoint?
I can't make sense of this. Is current mode simply not intended to work with small motors? I don't have any CIMs lying around my house.