[LieAfterLie]

I have a relevant question...

Is the CIM motor bias linear? Or rather, is the (change in rpm)/(change in pwm input value) constant over the entire 0-254 range?

I understand that the "not moving" pwm value for the individual motor might not be exactly 127, and that it's 254 rpm might be faster than it's 0 rpm or vice versa. (The victors have a built in dead band centered around 127 I think, so testing for the exact standstill value might be hard...)

Say your wheel goes (unloaded) 800 rpm one way (254), but 700 rpm the other way (0). Could I correctly assume that the wheel's rpm will change about 5.9 rpm per pwm value? And thus that the standstill point is at a pwm output (without dead band) of about 119 not 127?

Same thing for victor bias, does its and the motor's bias together behave like this?