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Re: Current reading of motor controllers
You can use a current/voltage sensing breakout circuit to monitor power draw using analog inputs in your robot control system.
Here's a PCB capable of measuring up to 180 Amps (more than CIM stall current): AttoPilot Voltage and Current Sense Breakout - 180A
The current measurement is made across a very low resistance shunt (0.25 milliOhm). Voltage measurement uses a 16KOhm voltage divider.
Per 2013 Robot Rules (R54), this breakout circuit should be competition legal:
"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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2004 AZ: Semifinals, GM Industrial Design; SoCal: Winners, Leadership in Controls; Championship: Galileo #2 seed, Q-finals; IRI: Champions
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