Gruff,

Would you mind posting your closed loop idle settings? Specifically I'm interested in seeing if your steps min, steps max, rpm closed, and rpm open somewhat matches mine.

Gains would be nice for comparison as well if you wouldn't mind.

After some playing tonight, I got idle working much better with open loop, and found at about 88 steps I get a pretty bad ~900 RPM idle. With it at 110 steps, I get around 1600rpm, so I used those values.

I need more time tuning the PID though. I think it is the fault of my P-Gain being too high, but when I burn the settings, rpm drops a bit, which sends steps up to like 115 from 94, and the RPM starts into the 2000s and I have to kill it. The next start will settle out, and loading up the motor by turning the wheel works decently well, but still drops a lot in RPM, which is why I jacked up the P gain in the first place.