This example project captures the mA feedback data of a current controlled output channel for a 4-series controller. The data can be viewed either by CAN bus messages or with an openSYDE dashboard/chart. The data can be used for the calculations required to tune the PID controllers for the current controlled output channel.
https://drive.google.com/file/d/1xdy0FuBpkIWi_VA5mOW3Db6X_jj-SRQu/view?usp=sharing