[dsirovica]

Our robot was stripping the timing belt we wanted to use for the drivetrain and at midnight last night we decided to switch to chains... So excuse the lack of progress on the PWM vs analog Voltage. But I did do a quick model in SpiceIV and was surprised how little effect the inductor had (or how determined the battery was!). Today I threw a rig together and put a scope on it - and it too showed very little deviation from a true PWM, even after braking the CIM with my glove to a near stall.

I will do some pics etc and figure out how to post them (after we get the robot working!)

The good news is: use kVoltage - you can see (on the scope) the Jag modifying the PWM ratio as you apply load on the motor.

The bad news is that the documentation is quite missleading. Especially the
decription of the configMaxOutputVoltage method. (see quote in this thread.)

If you set kVoltage = 6V there is only Battery voltage or 0V to be seen anywhere - and the square wave is pretty square accross loads - see the pics and further detail I will post soon.

Dean