Stall detection

[jvriezen]

We've been having some issues with discs getting jammed in our shooter and the motors stalling.. So far, its only been in scenarios where someone is standing next to the shooter so we e-stop or whatever to avoid damage.

Does anyone have some code they can point me to that will detect a stall condition in software and shutdown the motor? Right now we don't have encoders installed (hope to soon) so I'm thinking of something that relates requested voltage detects amp draw and shutdown if amp draw stays too high for the given voltage for too long. Using CAN & Labview.

What would the code look like if we have encoders ? (Although I'd like to have both 'safety nets' in case the encoder fails and we have to go back to running without)

Thanks !