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What is the relation between (a) torque and motor currents for the wheel and steering motors and (b) how does (a) vary with temperature?

April 26, 2017currents motor motors relation steering temperature torque wheel

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What is the relation between (a) torque and motor currents for the wheel and steering motors and (b) how does (a) vary with temperature?

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As measured at -80degC, torque vs current varies almost linearly. From 0 to 55in-lb requires 100mA to 200mA. Stall occurs at nearly 110in-lb with a current draw of 255mA. Motors are generally operated at 15.5V. As a means of comparison, at 0degC over the same torque range, current ranges from 13mA to 140mA.