[Oblarg]

Originally Posted by Ether

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.

This certainly sounds like it's worth trying. Unfortunately, I'm a mechanical mentor, and am not sure how to implement this; what would be the best way to actually wire that, and what sort of low-pass filter code would you recommend (I know how to do simple exponential smoothing, but that's about it)?