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Originally Posted by lemiant
Is there some way of measuring or calculating how much torque you are currently applying?
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Yes. Measure the current.
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How do you keep the CIMs from putting out so much torque you break traction with the ground?
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You could try limiting the current.
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Or of anticipating wheel slip, without actual having to have it occur?
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For FRC, not really.
Commercial and military aircraft use highly complex software (and hardware) to anticipate the onset of loss of traction (during braking) and prevent it.