Motor voltage for /wheel_status current_ma_left/right? Optimal power efficiency Speed?

[slowrunner]

How are you connecting to your Create 3?

Wi-Fi (ROS 2)

Computer(s) Model(s) and Operating System(s)

n/a

Which version of ROS 2 is installed on your computer?

None

Which firmware version is installed on your robot?

n/a

Which RMW is your robot running?

I don't know

Does your robot have an assigned namespace? If so, please share.

n/a

Is the robot connected to a network? If so, what is the network type?

n/a

Are there multiple Create 3 robots connected to your network?

None

Is multicast enabled?

None

What is the Adapter Board's USB/BLE Toggle currently switched to?

None

Describe your question.

/wheel_status topic will report each motor's current in milliamps.
What is the nominal voltage I should use to estimate the power consumption?

My current non-Create3 robot can extend its playtime significantly by not traveling at max speed;
Has anyone determined the stock Create3 optimal power efficiency speed?

[shamlian]

The robot uses the robot's battery voltage to run the motors. You can get the battery voltage from the /battery_state topic (it changes over time).