Speed controller test
The speed controller is working well. It’s a simple PI controller but was easy to tune and handles the moderate slope of the road OK. The speed wasn’t very stable at 10 km/s as the motor and gearing doesn’t like going that low, but it was much better at 17.5 km/h (Ethan suggested 20, I suggested 15, we compromised).
Adding the ‘P’ term made a big difference to the step response.