As I recall, the drill motors require scaling in PBASIC because they travel in reverse and forward at different speeds. Does anyone know if the Chiaphua motors require scaling, too? If so, how much?
Here’s an old thread. It’ll tell you more than you wanted to know about it.
I know that there is enough difference with the drill motors that our robots always turn when at full throttle. The drill motors run noticably faster no-load in the ‘forward’ direction, and they pull better in the forward direction under load. The motors are more powerful in the ‘drilling’ direction. They shift the commutator relative to the armature to correct for the hysteresis lag, or something like that.
I’m going to tach the Chiaphuas to see how much difference there is between the two directions of rotation.