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It seems that one of the $40 encoded motors I bought has a defect and is internally binding. Explains why it's been so hard to get steady results during my hours of PID tuning.
btw, you didn't label the axes or even title your chart, so I can't make sense of it
plotted PWM duty cycle being sent to each motor
Oh, and shouldn't your chart plot PWM duty cycle to either output velocity or torque?
each motor while both maintain the same speed.