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Nice Stuff!!!We talked about building the same thing for our robot, be we didnt have enough weight for an amp box. We came up with a very good back up plan, that worked on last years' robot when we tested it. We used magnetic switches to tell when the shaft on our drive motors were moving or still. If the program found that they were not moving and the joysticks were near full forward or full reverse, then it could assume that the motors were stalled instead of being off. The program then reduces the pwm output to the motor to a value that would not draw sufficient current to pop the breakers. We had it accumulate the information about every .25 seconds. While we built the mechanism on this year's robot, we never tested it or used it because we had no problem cutting out, amazingly. Measuring the current is probably a lot simpler, especially to program. Our switches were a pretty slick back up, though.
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