Motor Physics

[Ulibrium]

Hi all,

I would like to know what variables influence voltage and what variables influence current when considering the circuit going into a motor. From what I understand, voltage is entirely controlled by the Victor, and current is entirely controlled by the Torque the motor must produce. Someone on my team insists of thinking a motor as a simple resistor with a constant amount of ohms, but I keep yelling at him until I'm blue in the face that it is not the case. Can one of you settle the argument? He is claiming that due to this simple resistor-like nature, increasing the PWM value under constant load would increase the voltage, therefore increasing the current. I believe that measuring the current will give a accurate reading of the torque of the robot and does not need a compensation based on the voltage sent to it. In other words, let's say I have the joystick at the origin. The current is, perse, 10 amps. I immediately push the joystick to max thrust. Due to the increase in torque, the robot goes to 20 amps or something. Then, it will reach a certain constant velocity, and will drop back down to 10 amps. This how I see it, is it correct? Please, someone, settle this dispute.