The output of the motor at a given power will depend on the motor, its internal gearbox, and its work load. During normal operation, we tell the motor our desired power. PID ModesĪs mentioned above, there are other ways to use the motor. Alternatively, we can reverse the right drive motor(s) and remove the negative signs when reading the gamepad input. (2) We probably want to reverse the left drive motor(s) in a traditional setup. This is no longer necessary, as the gamepad class does this for us. Notes: (1) We use to manually trim or clip the joystick values to the range.
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