I have been stumbling through the documentation for the dynomotion products, but have only been able to find disjointed steps to tune DC brushed servos. I have personally lost a lot of time and productivity during this task due to the still evolving documentation for what appears to be very robust hardware.

Hopefully, this thread will eventually fill in the blanks for a system using the Kflop, SnapAmp, and Kanalog with brushed DC servo motors.

I found in the wiki pages some of the variables to be set within the kmotion "Step Response Screen" here. However, the starting point appears to be skipped. I could not readily find set points for the PID variables.

1) What PID variables should be used during the Velocity, Acceleration, and Jerk process?

2) What is the recommended process of refining the PID's, and at what stage of the tune process should it occur?

Thank you.