Thanks Patrick, I am learning a lot! I do have some current sensors I can experiment with.
I am actually using, perhaps I forgot to say, the G2 Pololu motor controller. I noticed in the setup program on Windows, when I hook the USB cable to controller, that the software shows the instantaneous current draw on the motor. Am I interpreting this correctly and would I be able to pull that information out of the controller itself when the robot is not connected to Windows, for example possibly through the serial interface ?
I already have the current limiter set inside of that setup program, would that limit by itself be enough to prevent damage from overtorque??? so maybe it is not necessary to dynamically limit it while running?
The robot’s brain is a Raspberry Pi and I have been using the RC pulse width control, but I have been very interested by the possibility of using the serial interface.