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Originally Posted by Joe Johnson
6) after the temp rises above a certain number, THEN and only then, I would limit POWER INPUT to the amount that I can dissipate at the current speed
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Couldn't you just measure the temperature of the motor? (some kind of thermistor or temperature sensor...) Given that it takes only one digital or analog input (depending on how much circuitry and what sensor) and skips 5 steps (and the associated error), that would be my solution. You may have to scale it considering you are measuring the temperature on the outside, and the temperature on the inside is proportionally hotter.
Although it might be useful to have the current for the motors measured anyways...
- Scott