[dtengineering]

It is also possible to purchase current sensors from digikey. I can't remember the part numbers that we used last year, but we ran our motor leads through the sensor, and got an analog output that we could plug in to the control system. (Note that these aren't clamp-on meters... they are in series with the wire/controller/motor)

That way we had real time current draw data for each motor appearing in a labview graph on our driver station. Analyzing the data allowed us to write code that identified when the motor was generating too much torque (assuming current is proportional to torque) and dial back the Jags a bit. It provided a fairly simple traction control system.

If you got one of the 200A current sensors (I think they had them...) then you could monitor your entire robot's draw, and shut down non-essential systems when you are concerned about tripping the main breaker.

Jason