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Originally Posted by Oblarg
If I'm guessing correctly, the cusp is due to the transition between traction-limited and motor-limited.
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Correct.
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I wonder why there is a slight decrease in acceleration while traction-limited as the speed increases, though?
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Yes, that's the one I was expecting to get questioned about.
See if you can figure it out with the following hint: Notice that Krv is set to a non-zero value.