[Tom Line]

Thanks guys.

In the end, I kind of expected some derivation-based way of doing this as opposed to brute force best-fit-line equations, but this makes it easier for me.

By removing the 'tail' of the victor response down at the intermediate pulse widths that generally fall within the deadband of robot motion due to friction, I was able to get a very nice fit on a couple of 6th order polynomials. I'll poke through the rest of it tonight.

I WISH I trusted the jaguars enough to use them on our drivetrain. Perhaps I'm being paranoid, but I still worry about them burning out on fast full-reverse to full-forward transitions. The voltage mode and their linearity looks wonderful!