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Originally Posted by R54
Custom circuits shall not directly alter the power pathways between the ROBOT battery, PD Board, motor controllers, relays, motors, or other elements of the ROBOT control system (including the power pathways to other sensors or circuits). Custom high impedance voltage monitoring or low impedance current monitoring circuitry connected to the ROBOT’S electrical system is acceptable, if the effect on the ROBOT outputs is inconsequential.
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So yes, a low-impedance current sensor is legal. Make sure it can handle the number of amps you could be throwing at it. CIMs can briefly draw around 100 amps under stall.