I can't wrap my head around the current situation - do you have an idea? FOC with Hall Sensor, LRP Dynamic 8 1600kv Inrunner motor.
I have set KI and KD to zero for positional control and KP to the lowest value possible 0.001. With that the motor is not moving but its holding force is low. But as soon as I increase the values just a little, it start to vibrate significantly. With KD the expected high frequency movement, with KP a low frequency but high amplitude. And when I set KP and KI to 0.001 it holds fine but when turning the motor manually over 30° it starts to spin at max speed.
At the moment I am lost. How should positional control even work with a PID loop when the Hall Sensor resolution is so low?