[alphadog0309]

I have found that using the encoders to detect if the motor isnt running when it is supposed to be running is a great way to cut off power to prevent the motor from burning out.

In psuedo code:

- recieve command to run motor
- wait 30 msec (completely arbritrary... First number i picked, it didnt shut off too soon, so i ran with it. I plan to experiment and get this number as low as possible)
- if motor is not turning after this point, shut off power to motor, play error noise on nxt.

This system doesnt work too well with geared systems with a lot of gears where the motor could still be spinning it just would not be spinning the axle needed

Perhaps a shaft encoder would let us detect if both were spinning which would be good. I was contemplating making a shaft encoder but i dont have access to a cnc mill/lathe so it wouldnt be accurate enough to use with the existing encoders. We need these to be provided by LEGO or some third party sensor company....