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Part of it might be your controller? ON various settings, reverse is too fast, and other throttle settings (on the homemade one) it doesn't feel too bad. When throttle proportional to pwmDuty, I would say that reverse feels WAY too fast. Maybe that's what Altrax did? It's the easy way out. hehe. Only like 2 lines of code compared to maybe 100 lines of code to take torque into account with the throttle.
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