[mechanicalbrain]

i like the idea of a small one right off the motor since the size really doesnt matter and you can make it as small as possible. im curious though why it has to be automated? why not use it like you would a normal transmission and just hace more control over torque and speed. however if you want to have autonomous control i would recomend some type of backgroung program that uses info from the accelerometers. for example when it marks that you are incountering esistance (moving slower than you shoud based on speed controllers) it ups the torque. you would need something to govern how much it ups the torque based on what and when to lower the torque (maybe when your speed suddenly increases after overcoming an obstacle).