Sorry for the delay.
Setting lockin.vel negative has some weird behaviour. It’s throwing out errors (Failed to enter AxisState.ENCODER_INDEX_SEARCH) in software, but after a few tries it does start without errors. It looks like it’s finding an index rapidly after starting as I don’t see any movement. Having the value positive still works as expected.
Does it specifically work in the forward direction, and give this incorrect behavior in the negative direction?
yes