I own an iRobot create2 on which I am planning to implement a control algorithm. After playing with the different drive commands, I noticed that changing the desired velocity values marginally doesn't seem to do anything.
Even the Drive PWM command that ranges from -255 to 255 seems to have an internal granularity that is bigger than 1.
In this video the create seems to change its driving direction nearly seamlessly, which I am not able to reproduce with the described behavior.
Does anyone have any suggestions?