Quote:
Originally Posted by gpetilli
Agreed you must switch to kSpeed. You will need different P I D numbers when you switch to kSpeed. For tuning speed mode, start with the I number (not P as you would for kPosition). Once you have an I you like, you can ramp up P to tame minor oscillations. Always set D to zero in speed mode. There are several posts which give more details on tuning CANJaguar kSpeed controllers.
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Wait a second. Why does D have to be set to 0 in speed mode? Ours seem to work best with P=.700, I=.085, D=5.000
Cooling fans? Never had the need. Then again, we're talking New Jersey in March. Radiant heaters might be a better choice, or maybe snow boots. - DonRotolo [more] 
10-02-2012, 20:30
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