CAN-Where to Start

[RyanCahoon]

Sorry if this seems deviant from the purpose of the thread, but have you figured out why the motor is drawing too much current? If it's a mechanical or electrical problem, it's worth figuring out that problem instead of trying to patch it with code (especially since you have the time afforded by the offseason).

Just a couple of ideas: You say it's a drive motor, so did an axle get bent? Did a bearing or some of the chain links (if using chain) collapse? Are any gears aligned and spaced properly? Did the frame get skewed or something causing binding in some other way? Is the gearbox greased? Which type of motor is it? What reduction are you using? Check out the motor curves for your motor and make sure it's running near the efficient range. If you are using multiple drive motors ganged together, are they balanced? Is the motor in good condition? E.g. If it ever "let out magic smoke", some of the wire insulation in the motor has been burned away and the power output of the motor could be decreased if the wires are shorting internally.

Current control will help to prevent your motor from burning out, without identifying what's causing the high current draws, it's quite possible you'll end up with a robot that only moves very slowly in order to meet your current requirements.

--Ryan