Under 9V is pretty low for DCS operation without reserve for speed control. Not sure why tach reader would be a stutter issue, especially if it can maintain speed control. Stuttering would seem to be a gear train issue in my mind were it is seeing some extra resistance. Side gears wobble or debris, maybe worm gear break in. Especially if your at a decent speed. Crawling yes maybe, but track power pickup can effect that too. G
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