Limitting motor torque

[Hawiian Cadder]

if you are not using CAN then the torque can be calculated with the voltage you are putting in and speed, this requires an encoder on the motor though. although instead of worrying about how to make do with less traction, i would focus on getting more traction. this years robot was geared for 14 feet per second, and before we switched to roughtop tread it was able to spin the wheels at stall, after the switch, we had no problems.