duty_cycle control vs current_control

[fessyfoo]

@Zachsnotboard

but the real meta is slip angle which is what Morgan does, I can do it on my stooge diy board, it’s much easier on the v5 though because you control the rpm of the wheel instead of the power out of the esc.

@fessyfoo

I personally think it’s input lag,

thinking more on this, i could be convinced that’s not all of it.

I think @Mbrady put this thought in my head a while back.

with duty_cycle control if the wheel starts to slip the current wil drop as the duty_cycle based target speed is still met and requies less torque to stay there.

with current_control if the wheel slips, the current will be maintained which will cause the wheel to spin up to higher speeds.