Resilience of Motors using PID

[Ether]

Originally Posted by Spirator

We'll hold the position momentarily for shooting, but when we don't need to hold an angle, the motor will rest on a hard stop.

Another thing you can do to reduce the waste heat in the motor is to make your software smarter.

The PG71 is a gearmotor, which means there's a potentially usable amount of friction. You want that friction to help you hold the position. So if you could figure out a way to back off the motor command just a bit once you're at the desired position, and let the friction take some of the load, you'd reduce the heat generated in the motor.