Stop on Ground Control

[krkeegan]

You can try these settings that seemed to help another user with a soemwhat similar issue:

@krkeegan

Try decreasing Kp on the Velocity controller to 6 or maybe even 5. So enable custom settings for the velocity PID and the values should be

Kp = 6

Ki = 0

Kd =.28

@dsfrobots

And, is it normal for the heatsink to get pretty hot just moving say 40 inches without any load on the shaft?

It gets warm yes, but not super hot.