Changed PID S/W to have different resolutions for Kp & Ki constants
Updated PID S/W, Re-tuned PIDS's, Used min targ_Iq value of +/- 9
Removed non-linearities in Velocity --> Req_Vq --> targ_Iq, then added change sense of Req_Vq if -ve spin. Now MAX --> MIN speed change works for both spins
Retuned PID's
Converted back to running both motors on test schedule