Position Control using potentiometer?

[biojae]

In BDC-COMM, I can set the control mode of the jaguar to position using a potentiometer.
The little text box that displays the position updates as I move the shaft, but when I try to move the shaft to a set-point, the shaft always turns away from it.
So, when I tried reversing the sign on the PID constants to make it go the other direction, it would turn past the point and never try to come back to the set point.

Also, I tried using the soft-limit feature on the Jag, but the jag happily goes past the limit without stopping.