Setting Servo Max Acceleration

There is the potential for 1mS delay if the servo thread is set up to write-then-read.
But none of the config tools do that.
still, it might be worth looking at the thread order of components to be sure.

Michael wrote:

As I get to a tune at higher and higher speeds my low speed tuning seems farther off.

This is not uncommon. I created the "lincurve" HAL component specifically for this purpose, so that the PID controller gains could be set up to vary with speed (or with temperature, error, etc)

In my day job I am in charge of tuning a system where P, I and D gains are each derived from a temperature / total error map, and there is a map for each of the 12 gears.

Screenshots look much better now.

Michael wrote:

Double checking the drives current monitor vs the halscope shows that the delayed response is causing an increased velocity command to get the motor up to acceleration parameters, accelerating faster than it can handle.

You might be able to dial the current back by limiting the PID.

There are a number of parameters that could help.

pid.N.maxoutput float in
Output limit. The absolute value of the output will not be permitted to exceed maxoutput, unless maxoutput is zero. When the output is limited, the error integrator will hold instead of integrating, to prevent windup and overshoot.
pid.N.maxerror float in
Limit on the internal error variable used for P, I, and D. Can be used to prevent high Pgain values from generating large outputs under conditions when the error is large (for example, when the command makes a step change). Not normally needed, but can be useful when tuning non-linear systems.
pid.N.maxerrorD float in
Limit on the error derivative. The rate of change of error used by the Dgain term will be limited to this value, unless the value is zero. Can be used to limit the effect of Dgain and prevent large output spikes due to steps on the command and/or feedback. Not normally needed.
pid.N.maxerrorI float in
Limit on error integrator. The error integrator used by the Igain term will be limited to this value, unless it is zero. Can be used to prevent integrator windup and the resulting overshoot during/after sustained errors. Not normally needed.
pid.N.maxcmdD float in
Limit on command derivative. The command derivative used by FF1 will be limited to this value, unless the value is zero. Can be used to prevent FF1 from producing large output spikes if there is a step change on the command. Not normally needed.
pid.N.maxcmdDD float in
Limit on command second derivative. The command second derivative used by FF2 will be limited to this value, unless the value is zero. Can be used to prevent FF2 from producing large output spikes if there is a step change on the command. Not normally needed.
pid.N.maxcmdDDD float in
Limit on command third derivative. The command third derivative used by FF3 will be limited to this value, unless the value is zero. Can be used to prevent FF3 from producing large output spikes if there is a step change on the command. Not normally needed.