Voltage Range of Analog Inputs

[jeffreym]

To measure current from the battery (or to the motors for that matter), you should put a very low resistance shunt in series with the power lead. Technically it doesn't matter which one but we use the positive lead. You then have a low voltage (in the millivolt range) that can be measured across the shunt and amplified (with a simple op-amp circuit) to accomodate the 0-5v of the A/D converter on the controller. We (Team 802) are measuring total battery current and that's how we are doing it.