[Kevin Sevcik]

Specifically, with encoders, you'd want to implement something like an integrated error check. Integrate your error, and if the integrated error exceeds a certain amount, you've stalled. You'll want to tune it so you don't trip the limit while you're spinning up, obviously. Probably a good idea to have something in there that reduces the integrated error over time so you don't have a whole lot of error built up from spinning up.