Okay, just making sure.
So feed-forward will be a little off, but feedback will still work properly.
Sounds like I need an accessible current sensor on the robot. CAN will make things so much easier (even though its accuracy is ±1 Amp).
In the meantime, I believe we can calculate current from the latest supply voltage, the PWM-speed curve (no load), the PWM-current curve (no load), the PWM command, the speed of the motor, and the speed-current curve at 12v.
And about that stall current, the Jaguars are only rated for 100A peak starting current. (pg4 of
http://kamocat.com/Jag/BDC_Datasheet.pdf) That's some good incentive to not start your motors at full speed.