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Ok,I will give it another shot.
I appreciate the help.

Set ferror and min ferror to 5 or so and then tune FF1 then P.

Note that if previous PWM scale was 10 (so the output would be scaled in volts)
changing it to ~50 makes the P term need to be 5 times higher for the same effect

For tuning, use halscope and plot  joint.n.ferror and joint.n-vel-cmd
if FF1 is too low, the following error during a constant speed jog
will be in the same direction as the velocity, if FF1 is too high, the
following error will be in the opposite direction of the velocity.

For P, I would just increase until you get oscillations, then back off about 50%

 

If I set output_scale to 52, I immediately get following errors even with a ferror of .5.
The motor wants to drift.
I had it working, but not great with the output_scale at 10.


[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 5
MAX_ACCELERATION = 10.0
P = 0.1
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.003
MAX_OUTPUT = 0
ENCODER_SCALE = 960
OUTPUT_SCALE = -52.35
MIN_LIMIT = -3.0
MAX_LIMIT = 300.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 3