Can you:
1. Post your hal file
2. Plot the commanded joint position, joint feedback position and index-enable
in halscope at 1 servo thread/division (trigger on index-enable falling edge)
meaning u expect the signals to be zero after index en? or before? or??? Or you don't see the baseline lines on the pic (I gained them up to maximize resolution so the base line is the white lines at first division from bottom)?
Big question to me is why the big following error spike? It is like the command is current sample and feedback is one sample ahead in time (more like feebback plot data is one sample old). Maybe "pid.y.error-previous-target true" causing this?
