In my rather brief testing this at least appears related to physical angle of rotation, proportional, rather than actual, ie larger value is greater rotation. Is this as intended? ie calibration is the responsibility of the user? or is there another value that mediates the degree of rotation?
using simplefoc shield with PM1105 and AS5048 magnetic sensor.
Yeah, it usually needs manual tuning, along with the velocity PID values. 20 is just an example value that works reasonably well in many cases. The output of Angle_P is target velocity, so the farther the motor is from the target angle, the faster it will try to spin to get there. And as it approaches the target angle, target velocity proportionally decreases to 0 so it slows to a stop. Lower Angle_P.P will decelerate more gradually, which is good for loads with a lot of inertia. Higher will respond more quickly to disturbances, but becomes unstable and vibrates around the target if it’s too high.