[JesseK]

Oh no, lol. /slighthijack

The differential equations we use to predict robot acceleration assume a constant voltage as amps get used. It doesn't matter much, as we have to assume every robot uses the same exact batteries in order to differentiate between different mechanical designs. Yet I wonder how much the drive train drag race sims (and even more of an extension, my Quadrotor thrust sims) would be affected by adding a V(t)/Vspec change.

Anyone who's looking for a ballpark figure of consumption, each iteration I've calculated has been under 15mAh for robots that weigh <=5lbs and/or are <=5 seconds.