We are trying to develop an advanced controller, like MPC, with Erle-Rover. For implementation, we need the input to output characteristics of the motor i.e the torque and r.p.m. values of the motor for different PWM signals (assuming the load is constant at the wheels).
Can you please provide us the input-output map of the motor or suggest some way to find it. We will be very delighted if you can provide a detailed datasheet of the motor along with these.