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Motor 88013 accuracy #208

@RaccoonAhro

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@RaccoonAhro

I've been testing out the Build HAT and the large motors for a bit now and comparing them to the large motors of the Lego Mindstorms system and I've found that the Lego Technic motors are always quite a bit off. When using the run_for_degrees(20) command it usually ranges from 16 to 23 degrees. For the run_to_position(), its also up to 5 degrees off in either direction. Since the update the motors also seem to run a lot rougher (though I do believe it is also slightly more accurate). I've tried testing out different pwmparams and ended on 0.67, 0 being the best combination accurarcy-wise. However, compared to the Lego Mindstorms motor, which usually stay within a 4 degree range (eg. running for 19-23 degrees when asked for 20) when using brake() and being dead-on when using hold(), it just seems really inaccurate.
I've tried changing up a few things such as using different motors and outputs to ensure that it wasn't just faulty hardware, changing the angle to a higher value (since the motors usually seem to struggle with correctly running for very small degree changes), or trying out different plimit and pwmparam values. And while the pwmparams do seem to have a small positive effect, it seems pretty minor.

Now my question is if anybody else has any ideas on how to increase the accuracy? Or if I'm just missing something? Specs-wise the two motors (95658 and 88013) seem to be pretty similar and should produce comparable results from what I understand. Thanks in advance :)

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