After characterizing a few brushed DC motors from the workshop inventory, the results concluded that a slow decay mode in combination with a low PWM frequency will improve most motors' low-speed performance and overall speed range. All motors saw a significant reduction of spin threshold voltage when changing the PWM frequency from the MotorKit library's default of 1600Hz to a more compatible 25Hz.
The following charts show each motor's speed, power, and spin threshold characteristics measured by the automated motor tester as it swept through decay modes, PWM Equivalent Voltage values, and PWM frequencies. Click on the chart images for an enlarged view.
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