Get motor parameters.
For every given PWM, run the robot with the robot completely assembled. You should get a position over time curve. Take the derivative of the position of time curve at the beginning twice to get the approximate acceleration. Using the acceleration calculated. Get an approximate torque amount of the robot
Get motor parameters.
For every given PWM, run the robot with the robot completely assembled. You should get a position over time curve. Take the derivative of the position of time curve at the beginning twice to get the approximate acceleration. Using the acceleration calculated. Get an approximate torque amount of the robot