The above graph represents the voltage of the motor battery vs. time.
Conditions:
chassis suspended so the wheels do not touch the ground
motor power set to 150 units greater than stop condition
allowed to run without external torque on wheels
A natural exponent function very nearly represents the data, and establishes a horizontal asymptote at 11.26 volts.
It is reasonable to assume that the battery should never be allowed to approach that voltage, as it may refuse to take a charge afterward.
20 minutes of navigation seems to be the limit for safe operation.
-B
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