[Qbranch]

I have, in the past, used the main battery voltage to formulaicly modify the multiplier on the P term in the PID for the wheel motors (rate control). Worked great!

Also have used it to make power limits on non-servo systems vary to have the same power output (mechanical) regardless of lower battery voltage.

I.e., 25% power limits that stay constant regardless of battery voltage.

-q