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Re: Ideal robot speed
One more detail: when making comparisons, we need to distinguish between the theoretical top speed (i.e. proportional to motor free speed), and the actual top speed when the motor is operating at a particular load condition.
The voltage will vary depending on state of charge and current demanded (i.e. load), and speed varies with voltage.
Oftentimes, we'll talk about the theoretical free speed of the drivetrain at 12 V (because it's straightforward to calculate), but for actual modelling of the gameplay, it's worth considering the real speed of the robot under game conditions.
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