[MrForbes]

In real life, you will hardly ever have the victor running at 50%....especially if the motors are set up to run at 50% of their no load speed at "normal" driving speed.....

It would help if you did understand the torque/speed/load/power stuff.

You can think of it like driving a car (this might not help if you don't drive a car)...when you drive on the highway, you have the gas pedal pushed just a little bit, but the engine is running at perhaps 50% of it's maximum rpm. You come to an up hill, you have to push harder on the gas pedal just to keep the car going the same speed. You get to a down hill, you have to let off the gas pedal to keep from speeding up more.

When you start from a stop, you have to push the pedal pretty far to get going, and the engine speed changes from slow to faster then slows down again after the transmission shifts, even though all this time the gas pedal is about the same position.

Think of the gas pedal position as the PWM signal, and the engine RPM as the motor speed, and the car's speed as the robot speed.

(This is a bad analogy, but might help you to understand the relationships)