Feedback loop following error

Sorry for the late reply, had a lot of stuff to do, and finally got around to testing today. Turns out it was a wiring issue in that the encoder pulses were switched and the encoder was counting backwards (yeah big brain over here). Now on to the PID settings. Can someone tell me how to reduce the starting peak to a more reasonable level? And also does backlash compensation even do anything if I have encoder feedback?


Thank you everyone for helping me and my rookie butt to figure everything out.