New to 2CAN and Jaguar

[mikets]

I have another issue. I am also experimenting with kSpeed mode. No code this time. I am playing with the bdc-comm tool.
- I set one of the Jags to kSpeed mode
- Set the speed to 30 rpm.
- I kept Ki and Kd zero and was playing with Kp only.
- The wheel moved very jerkily (i.e. jerk forward, stop, jerk forward stop, ...) so it is making a loud clunging noise.
- I tried Kp = 1.0 and up. The larger Kp, the louder is the clunging noise.
My theory was that the Kp was too strong. It started too strong and because of the "brake" mode, it also stopped too suddenly. Basically, the "speed" was oscillating. So I cranked down Kp. Eventually, when Kp is 0.35, the wheel seems to turn smoothly. But when looking at the speed, it was very far from the target. For example if I set target to 70 rpm, it comes back with 30. When I set it to 60 rpm, it came back at 25. Am I interpreting this correctly? I am not sure about the units because the bdc-comm tool does not show me the units in Speed mode. It looks like the target value box can only accept a maximum value of 100 (may be it's a percentage? But percentage of what?).