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Re: Stall detection
Under a stall condition, current will be relatively high after the motor has been free spinning for a while (if the motor is starting from stop, it will have a similar current as a stall, briefly). With CAN, you should be able to get the current output on the motors. Someone with more experience with CAN might be able to help you there.
If you're using an encoder, you should get a reading of # ticks / timeframe with a certain motor output. If you get near zero ticks / timeframe, the wheel isn't spinning and you could be in a stall condition.
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