Unstable control loop?

[yngndrw]

There seems to be an issue with the stability of the control loop.

If you have the motor stopped in simple mode, grab the shaft and spin it very quickly, the motor will start spinning very quickly (1800RPM) in that direction. The error continues to grow until you physically stop the shaft, at which point the motor returns to the correct position. (Seems to be limited to about 800RPM when running normally)

This also occurs when it's moving in simple mode, spinning the motor quickly in the wrong direction results in it continuing in that incorrect direction at ~1800RPM.

It also occurs in velocity mode when running at a fixed speed.

It seems odd that it's able to reach 1800RPM in this state as I have only barely been able to reach half of that in normal operation.