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And another question: Do companions use up fusion cores and do you need to repair their power armor after a while?
which is why the mod to reduce explosion damage is the most important ;)
still does not do much when they just stand there.
carryweight w/o power armor: ~435
with unmodified power armor: ~495
all parts painted for +1 strengh: ~495 (!!!)
motion assist servos with paints(+3 S): ~525
and finally painted + servos + calibrated shocks on both legs: ~615
Notes: i didnt test the absolute weight as only the differences between values matter. as far as i know (pls correct me on that) 1 strengh increases your capacity by 10. you can see that the additional strengh bonus from painting your armor seems not to work, as it gives the same value for the unpainted one (though it applied +1 strengh on myself). surprisingly enough using both paint and the motion assist servos gave cait additional 30 capacity. im not sure if theres some bug with companions and power armor paint, but that might explain the result there.
I assume that relevant upgrades will work on companions though it might have some weird exceptions (eg. that cloaking stops working).
conclusion: calibrated shocks and motion assist servos work fine on companions. strengh increasing upgrades should therefor also enhance their melee attacks, which could be further boosted by power armor arm mods.
Its usually worth giving them a suit of power armor, even without any parts the frame is still better than most regular armor and it boosts their carry weight and melee damage. Even if you don't use power armor yourself because you're too lazy to scavenge aluminum just give them an empty frame then you don't even have to repair it. Improving the parts is worth it, particularly calibrated shocks and tesla armor or explosive shielding. All those are good. The general armor upgrades are very good as well but I think they make it more expensive to repair.
Bethesda doesn't know how to make AI jump, so they never use it, even when they could just jetpack 5 feet up instead of going all the way around the place.