[Al Skierkiewicz]

Greg,
You need to consider that the mechanical system has delay due to the need to get things moving and to stop things that are already in motion. Remember that the gear box is not preloaded so that a finite amount of time is needed just to get all the gear teeth to move to a point where they are touching and can start to perform some work. Additionally, you must begin moving the mass of the armature before you can move the robot. A more valid test would be to monitor the electrical output of the Victor compared to the command. Follow that test with one that tests the mechanical delay and see if those numbers seem a little bit more realistic.