[Gdeaver]

Measuring voltage is not going to tell much. PWM varies the power to the motor not voltage. A motor under no load takes very little power to run at full speed. It would be interesting to see a plot of rpm vs current draw. I would expect to see much different curves with a motor under load. A better measure of the victors would be to put the motor under a constant load and measure the power ouput of the victors motor system as the robot controller steps through the pwm variable.