[nuclearnerd]

I'm new at this. The Jags and Victors have the ability to use feedback don't they? Have any teams have gone to the effort of adding encoders to their 9015 / RS775 / Bag motors and then programming the controller or cRio to provide stall protection? It seems like that would be a useful off-season project. It might be nice to design an encoder output on the versa planetary gearbox too.