Limitting motor torque

[Ether]

Originally Posted by lemiant

Is there some way of measuring or calculating how much torque you are currently applying?

Yes. Measure the current.

How do you keep the CIMs from putting out so much torque you break traction with the ground?

You could try limiting the current.

Or of anticipating wheel slip, without actual having to have it occur?

For FRC, not really.

Commercial and military aircraft use highly complex software (and hardware) to anticipate the onset of loss of traction (during braking) and prevent it.