Mechanisch habe ich jetzt noch nichts überprüft.
Hier mal ein Log-Auszug aus dem "Encoder Duty-Cycle Test":

Geschwindigkeit 20: (
Code:
Duty Cycle + LEFT: 47% -> OK || Duty Cycle + RIGHT: 59% OK  | VL:67  | VR:45
Duty Cycle + LEFT: 47% -> OK || Duty Cycle + RIGHT: 39% OK  | VL:67  | VR:46
Duty Cycle + LEFT: 46% -> OK || Duty Cycle + RIGHT: 32% OK  | VL:68  | VR:45
Duty Cycle + LEFT: 45% -> OK || Duty Cycle + RIGHT: 40% OK  | VL:68  | VR:47
Duty Cycle + LEFT: 45% -> OK || Duty Cycle + RIGHT: 42% OK  | VL:69  | VR:48
Duty Cycle + LEFT: 45% -> OK || Duty Cycle + RIGHT: 51% OK  | VL:69  | VR:47
Duty Cycle + LEFT: 45% -> OK || Duty Cycle + RIGHT: 39% OK  | VL:68  | VR:47
Duty Cycle + LEFT: 45% -> OK || Duty Cycle + RIGHT: 36% OK  | VL:66  | VR:44
Duty Cycle + LEFT: 46% -> OK || Duty Cycle + RIGHT: 60% OK  | VL:66  | VR:40
Duty Cycle + LEFT: 45% -> OK || Duty Cycle + RIGHT: 30% OK  | VL:66  | VR:40
Duty Cycle + LEFT: 45% -> OK || Duty Cycle + RIGHT: 49% OK  | VL:67  | VR:39
Duty Cycle + LEFT: 46% -> OK || Duty Cycle + RIGHT: 25% BAD !  | VL:68  | VR:40
Duty Cycle + LEFT: 45% -> OK || Duty Cycle + RIGHT: 25% BAD !  | VL:68  | VR:40
Duty Cycle + LEFT: 48% -> OK || Duty Cycle + RIGHT: 48% OK  | VL:68  | VR:41
Duty Cycle + LEFT: 47% -> OK || Duty Cycle + RIGHT: 34% OK  | VL:68  | VR:44
Duty Cycle + LEFT: 48% -> OK || Duty Cycle + RIGHT: 38% OK  | VL:69  | VR:45
Gruß, Foxbat