The stall current will be drawn in a few cases:
- If your motor goes from rest to full speed
- If you prevent the motor from turning while fully powered
- If you reverse directions really quickly (the motor could draw twice the stall current)
We generally recommend choosing a motor driver that has a continuous current rating greater than or equal to the stall current of your motor. We have a lot of motor drivers and controllers that can drive those motors, but a specific product recommendation depends on your application. However, the only controller we carry that can handle encoder input is the Roboclaw.