Quote:
Originally Posted by Oblarg
The crucial bit we noticed is that at our gearing, our breaker is fine unless we stall the CIMs,
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Here's a possible software solution:
Measure the voltage drop across the main breaker with an analog input. Sample it and square each sample. Run the squared samples through a low-pass filter (a simple IIR would probably suffice). If the filtered value exceeds some experimentally-determined threshold, reduce the commands to the drive motors until the filtered value drops below the threshold.