[Gdeaver]

For the arm and brown out with encoders, A high resolution digital absolute encoder would solve the problem.

This whole conversation on power supplies and brown outs is a side effect of a bigger problem facing First and teams. We are in the midst of a drive train power arms race with a power system that was not designed to handle the escalation. There are other implications mechanical that will manifest them selves in the future. Shredded carpet, wheels melted to carpet, failure of field elements from high velocity impacts, melted Anderson power plugs, battery failure, bumper shredding, bent frames, etc.etc. It started this year and will escalate in the future. First could solve this problem by regulation. Limit drive train power. That would get the First community all fired up. Or let things be and the smart teams will learn power management.
I ordered some current sensors this week. Our team did not really quantify our power usage in the past. We intent to put some numbers to the systems on this years robot and start thinking of power budgeting in the future.