Here's a link to the final field test for the big dozer. I think we were pretty well pushing it to its limits here. We wound the track speed back up a bit but it was a little too aggressive in rock so we set it back after this test finally to where it was in field test #3. Pushing leaves or sawdust or sand or dirt it wouldn't matter, in rock where we had it, it proved too aggressive. Perhaps a scientist can work this out but I think we are still getting the full 25amps from each drive motor regardless, the pulses from the pwm are just farther apart as I understand it. Certainly reducing the pwm does not reduce the torque it seems. It's been quite a brute in the overburden and rock as the vids show.
https://www.youtube.com/watch?v=nLGbWYp6u-U
Enjoy