I'm wondering why everyone seems to be focused on measuring current. As far as I know, the equation we need (which calculates the amount of torque you are applying to the wheel, which cannot exceed the force of friction pushing back or you will slip) involves only
voltage and
angular velocity, not current.
http://www.gizmology.net/motors.htm
Could someone who is using current sensing in their traction control clue me in on how you are doing that?