[7-11number1]

Is it possible to monitor the amps or power being output to the CIM motors on the Jaguars? We are trying to determine the best way to detect wheel slippage. Assuming the wheels are engaged and moving the robot we would expect to see a higher power/current draw than if the wheels were slipping.

If not, does anyone have any ideas for detecting wheel slippage using C/C++ and the new control system?

Thanks!
-Michael