From fcfee5fa66b49c1df2d32b09119e4af6a9e5e2e3 Mon Sep 17 00:00:00 2001
From: devdesk <tami@tami.org.il>
Date: Thu, 5 Feb 2026 20:59:38 +0200
Subject: [PATCH 1/4] Remove all stall detection logic, add 100ms current
 logging

- Removed all STALL_* configuration parameters from config.h
- Simplified motor.h: removed stall-related methods and member variables
- Simplified motor.cpp: deleted checkStall(), resetStallDetection()
- Added frequent current logging (100ms) for data collection
- Removed stall callback system from main.cpp
- Simplified pingpong mode: time-based only, removed stall-return option
- Updated webserver: removed stall warning UI, removed stallReturn checkbox
- Updated status JSON: removed stalled and ppStallReturn fields

This version is for testing with new beefy PSU to collect current data
before designing new stall detection algorithm.
---
 include/config.h  |  18 +----
 include/motor.h   |  29 +------
 src/main.cpp      |  18 +----
 src/motor.cpp     | 202 ++++------------------------------------------
 src/webserver.cpp |  65 +++------------
 5 files changed, 32 insertions(+), 300 deletions(-)

diff --git a/include/config.h b/include/config.h
index 845c534..f166813 100644
--- a/include/config.h
+++ b/include/config.h
@@ -37,22 +37,8 @@
 #define ADC_VREF 3.3f                 // ADC reference voltage
 #define CURRENT_CALIBRATION 1.0f     // Calibration factor (measured current / reported current)
 
-// Stall Detection Configuration (delta-based)
-// Detects sudden current spikes above the rolling average
-#define STALL_DELTA_THRESHOLD 1.2f    // Current spike above average that indicates stall (amps)
-#define STALL_EMA_ALPHA 0.1f          // EMA smoothing factor (0.1 = slow, 0.5 = fast response)
-#define STALL_EMA_BASELINE 2.0f       // Expected running current baseline for EMA seeding (amps)
-#define STALL_STABILIZE_MS 300        // Ignore stalls for this long after motor starts/changes
-#define STALL_CONFIRM_MS 50           // Current must exceed threshold for this long to confirm stall
-#define DISABLE_STALL_DETECT false    // Set to true to disable stall detection
-
-// Under-current stall detection: motor commanded but drawing no current
-#define STALL_UNDERCURRENT_THRESHOLD 0.5f  // If current below this for too long = stall (amps)
-#define STALL_UNDERCURRENT_MS 1000         // Under-current must persist this long to confirm stall
-
-// Repeated spike stall detection: catches oscillating stall (driver protection cycling)
-#define STALL_CANDIDATE_COUNT 5            // Number of stall candidates in window to confirm stall
-#define STALL_CANDIDATE_WINDOW_MS 2000     // Time window for counting stall candidates
+// Current logging interval for data collection
+#define CURRENT_LOG_INTERVAL_MS 100  // Log current readings every 100ms
 
 // Web Server
 #define HTTP_PORT 80
diff --git a/include/motor.h b/include/motor.h
index 4b4ae58..891e9f3 100644
--- a/include/motor.h
+++ b/include/motor.h
@@ -10,53 +10,33 @@ public:
     void setSpeed(int speed);        // 0-100 percentage
     void setDirection(int dir);      // -1=reverse, 0=stop, 1=forward
     void stop();
-    void update();                   // Call in loop() for stall detection
+    void update();                   // Call in loop() for current monitoring
     
     int getSpeed();
     int getDirection();
     float getCurrentRight();         // Current in amps (forward direction)
     float getCurrentLeft();          // Current in amps (reverse direction)
     float getCurrentActive();        // Current from active direction
-    bool isStalled();                // True if stall detected
     
-    // Callback for stall events
-    void setStallCallback(void (*callback)(float current));
-    
-    // Pingpong mode
-    void startPingpong(int speed, int timeMs, int speedRandomPercent, int timeRandomPercent, bool useStallReturn);
+    // Pingpong mode (time-based only)
+    void startPingpong(int speed, int timeMs, int speedRandomPercent, int timeRandomPercent);
     void stopPingpong();
     bool isPingpongActive();
     int getPingpongSpeed();
     int getPingpongTime();
     int getPingpongSpeedRandom();
     int getPingpongTimeRandom();
-    bool getPingpongStallReturn();
 
 private:
     int _speed = 0;
     int _direction = 0;
     float _currentRight = 0;
     float _currentLeft = 0;
-    bool _stalled = false;
-    unsigned long _stallStartTime = 0;
-    void (*_stallCallback)(float current) = nullptr;
     
     // ADC zero-current offset (calibrated at startup)
     int _adcOffsetRight = 0;
     int _adcOffsetLeft = 0;
     
-    // Delta-based stall detection (rolling average tracking)
-    float _currentEMA = 0;              // Exponential moving average of current
-    unsigned long _motorStartTime = 0;  // When motor started (for stabilization period)
-    bool _emaInitialized = false;       // EMA needs seeding on first reading
-    
-    // Under-current stall detection
-    unsigned long _undercurrentStartTime = 0;  // When under-current condition started
-    
-    // Repeated spike detection (oscillating stall pattern)
-    int _stallCandidateCount = 0;             // Number of stall candidates in current window
-    unsigned long _stallCandidateWindowStart = 0;  // When current counting window started
-    
     // Pingpong state
     bool _pingpongActive = false;
     int _pingpongBaseSpeed = 50;
@@ -67,13 +47,10 @@ private:
     int _pingpongCurrentTime = 2000;
     unsigned long _pingpongLastSwitch = 0;
     int _pingpongDirection = 1;
-    bool _pingpongUseStallReturn = false;  // Return only after stall detection
     
     void applyMotorState();
     float readCurrentSense(int pin);
     void calibrateCurrentOffset();
-    void checkStall();
-    void resetStallDetection();
     void updatePingpong();
     int applyRandomness(int baseValue, int randomPercent);
 };
diff --git a/src/main.cpp b/src/main.cpp
index 8b1f95b..b6d6d40 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -33,32 +33,18 @@ void setupWiFi() {
     }
 }
 
-// Stall protection callback - stops motor immediately when stall detected
-// (unless pingpong with stallReturn is active - it handles stall by switching direction)
-void onMotorStall(float current) {
-    if (motor.isPingpongActive() && motor.getPingpongStallReturn()) {
-        // Pingpong will handle stall by switching direction
-        Serial.printf("STALL DETECTED: Pingpong will switch direction (current: %.2fA)\n", current);
-        return;
-    }
-    Serial.printf("STALL PROTECTION: Stopping motor (current: %.2fA)\n", current);
-    motor.stop();
-}
-
 void setup() {
     Serial.begin(115200);
     delay(1000);
     
     Serial.println("\n=============================");
     Serial.println("  BTS7960 Motor Controller");
+    Serial.println("  (Stall Detection Removed)");
     Serial.println("=============================\n");
     
     // Initialize motor controller
     motor.begin();
     
-    // Register stall protection callback
-    motor.setStallCallback(onMotorStall);
-    
     // Connect to WiFi
     setupWiFi();
     
@@ -72,6 +58,6 @@ void setup() {
 
 void loop() {
     handleWebServer();
-    motor.update();  // Update current sensing and stall detection
+    motor.update();  // Update current sensing and logging
     delay(1);
 }
diff --git a/src/motor.cpp b/src/motor.cpp
index 921f4f0..d6fc3a9 100644
--- a/src/motor.cpp
+++ b/src/motor.cpp
@@ -45,34 +45,21 @@ void MotorController::begin() {
 
 void MotorController::setSpeed(int speed) {
     _speed = constrain(speed, 0, 100);
-    resetStallDetection();
     applyMotorState();
 }
 
 void MotorController::setDirection(int dir) {
     _direction = constrain(dir, -1, 1);
-    resetStallDetection();
     applyMotorState();
 }
 
 void MotorController::stop() {
     // Don't reset _speed - keep last speed setting
     _direction = 0;
-    resetStallDetection();
     ledcWrite(PWM_CHANNEL_R, 0);
     ledcWrite(PWM_CHANNEL_L, 0);
 }
 
-void MotorController::resetStallDetection() {
-    _stalled = false;
-    _stallStartTime = 0;
-    _undercurrentStartTime = 0;
-    _stallCandidateCount = 0;
-    _stallCandidateWindowStart = 0;
-    _emaInitialized = false;  // Re-seed EMA on motor state change
-    _motorStartTime = millis();
-}
-
 void MotorController::update() {
 #if CURRENT_SENSING_ENABLED
     static unsigned long lastPrintTime = 0;
@@ -81,17 +68,13 @@ void MotorController::update() {
     _currentRight = readCurrentSense(R_IS_PIN);
     _currentLeft = readCurrentSense(L_IS_PIN);
     
-    // Log current readings every 500ms when motor is running
-    if ((_direction != 0 || _speed != 0) && (millis() - lastPrintTime > 500)) {
-        lastPrintTime = millis();
-        float activeCurrent = getCurrentActive();
-        float delta = activeCurrent - _currentEMA;
-        Serial.printf("Current: R=%.2fA L=%.2fA Active=%.2fA (avg=%.2fA, delta=%.2fA, thresh=%.1fA)\n",
-                      _currentRight, _currentLeft, activeCurrent, _currentEMA, delta, STALL_DELTA_THRESHOLD);
+    // Log current readings frequently for data collection
+    unsigned long now = millis();
+    if (now - lastPrintTime >= CURRENT_LOG_INTERVAL_MS) {
+        lastPrintTime = now;
+        Serial.printf("CURRENT: R=%.2fA L=%.2fA dir=%d spd=%d\n",
+                      _currentRight, _currentLeft, _direction, _speed);
     }
-    
-    // Check for stall condition
-    checkStall();
 #endif
     
     // Update pingpong mode
@@ -123,14 +106,6 @@ float MotorController::getCurrentActive() {
     return 0.0f;
 }
 
-bool MotorController::isStalled() {
-    return _stalled;
-}
-
-void MotorController::setStallCallback(void (*callback)(float current)) {
-    _stallCallback = callback;
-}
-
 void MotorController::applyMotorState() {
     // Apply minimum PWM when motor is running
     int effectiveSpeed = _speed;
@@ -206,32 +181,27 @@ void MotorController::calibrateCurrentOffset() {
 #endif
 }
 
-// Pingpong mode implementation
-void MotorController::startPingpong(int speed, int timeMs, int speedRandomPercent, int timeRandomPercent, bool useStallReturn) {
+// Pingpong mode implementation (time-based only)
+void MotorController::startPingpong(int speed, int timeMs, int speedRandomPercent, int timeRandomPercent) {
     _pingpongBaseSpeed = constrain(speed, 0, 100);
     _pingpongBaseTime = constrain(timeMs, 100, 30000);
     _pingpongSpeedRandomPercent = constrain(speedRandomPercent, 0, 100);
     _pingpongTimeRandomPercent = constrain(timeRandomPercent, 0, 100);
-    _pingpongUseStallReturn = useStallReturn;
     
     _pingpongDirection = 1;
     _pingpongCurrentSpeed = applyRandomness(_pingpongBaseSpeed, _pingpongSpeedRandomPercent);
-    // Time randomness disabled when using stall return
-    _pingpongCurrentTime = _pingpongUseStallReturn ? _pingpongBaseTime : applyRandomness(_pingpongBaseTime, _pingpongTimeRandomPercent);
+    _pingpongCurrentTime = applyRandomness(_pingpongBaseTime, _pingpongTimeRandomPercent);
     _pingpongLastSwitch = millis();
     _pingpongActive = true;
-    _stalled = false;  // Reset stall state when starting pingpong
-    _stallStartTime = 0;
     
     // Apply initial state
     _speed = _pingpongCurrentSpeed;
     _direction = _pingpongDirection;
     applyMotorState();
     
-    Serial.printf("Pingpong started: speed=%d%% (base=%d, rand=%d%%), time=%dms (base=%d, rand=%d%%), stallReturn=%s\n",
+    Serial.printf("Pingpong started: speed=%d%% (base=%d, rand=%d%%), time=%dms (base=%d, rand=%d%%)\n",
                   _pingpongCurrentSpeed, _pingpongBaseSpeed, _pingpongSpeedRandomPercent,
-                  _pingpongCurrentTime, _pingpongBaseTime, _pingpongTimeRandomPercent,
-                  _pingpongUseStallReturn ? "true" : "false");
+                  _pingpongCurrentTime, _pingpongBaseTime, _pingpongTimeRandomPercent);
 }
 
 void MotorController::stopPingpong() {
@@ -260,41 +230,19 @@ int MotorController::getPingpongTimeRandom() {
     return _pingpongTimeRandomPercent;
 }
 
-bool MotorController::getPingpongStallReturn() {
-    return _pingpongUseStallReturn;
-}
-
 void MotorController::updatePingpong() {
     if (!_pingpongActive) return;
     
-    bool shouldSwitch = false;
     unsigned long now = millis();
     
-    if (_pingpongUseStallReturn) {
-        // Switch direction only when stall is detected
-        if (_stalled) {
-            shouldSwitch = true;
-            Serial.println("Pingpong: stall detected, switching direction");
-        }
-    } else {
-        // Time-based switching
-        if ((now - _pingpongLastSwitch) >= (unsigned long)_pingpongCurrentTime) {
-            shouldSwitch = true;
-        }
-    }
-    
-    if (shouldSwitch) {
+    // Time-based switching
+    if ((now - _pingpongLastSwitch) >= (unsigned long)_pingpongCurrentTime) {
         // Switch direction
         _pingpongDirection = -_pingpongDirection;
         
-        // Full stall detection reset for new direction
-        // This triggers STALL_STABILIZE_MS grace period to ignore motor inrush current
-        resetStallDetection();
-        
         // Apply randomness for next cycle
         _pingpongCurrentSpeed = applyRandomness(_pingpongBaseSpeed, _pingpongSpeedRandomPercent);
-        // Time randomness disabled when using stall return
-        _pingpongCurrentTime = _pingpongUseStallReturn ? _pingpongBaseTime : applyRandomness(_pingpongBaseTime, _pingpongTimeRandomPercent);
+        _pingpongCurrentTime = applyRandomness(_pingpongBaseTime, _pingpongTimeRandomPercent);
         _pingpongLastSwitch = now;
         
         // Apply new state
@@ -302,9 +250,8 @@ void MotorController::updatePingpong() {
         _direction = _pingpongDirection;
         applyMotorState();
         
-        Serial.printf("Pingpong switch: dir=%d, speed=%d%%, next_time=%dms, stallReturn=%s\n",
-                      _pingpongDirection, _pingpongCurrentSpeed, _pingpongCurrentTime,
-                      _pingpongUseStallReturn ? "true" : "false");
+        Serial.printf("Pingpong switch: dir=%d, speed=%d%%, next_time=%dms\n",
+                      _pingpongDirection, _pingpongCurrentSpeed, _pingpongCurrentTime);
     }
 }
 
@@ -318,120 +265,3 @@ int MotorController::applyRandomness(int baseValue, int randomPercent) {
     // Ensure result stays positive and reasonable
     return max(1, result);
 }
-
-void MotorController::checkStall() {
-#if CURRENT_SENSING_ENABLED
-    if (DISABLE_STALL_DETECT) return;
-    
-    // Only check stall when motor should be running
-    if (_direction == 0 || _speed == 0) {
-        _stalled = false;
-        _stallStartTime = 0;
-        _undercurrentStartTime = 0;
-        _emaInitialized = false;
-        return;
-    }
-    
-    unsigned long now = millis();
-    float activeCurrent = getCurrentActive();
-    
-    // Initialize EMA at expected baseline (prevents inrush from looking like stall)
-    if (!_emaInitialized) {
-        _currentEMA = STALL_EMA_BASELINE;
-        _emaInitialized = true;
-    }
-    
-    // During stabilization: DON'T update EMA - keep baseline to avoid drift toward 0
-    // This lets stall detection work correctly even if starting from stalled position
-    if ((now - _motorStartTime) < STALL_STABILIZE_MS) {
-        return;
-    }
-    
-    // Calculate delta from average
-    float delta = activeCurrent - _currentEMA;
-    
-    // Check if current spike exceeds delta threshold
-    bool spikeDetected = (delta > STALL_DELTA_THRESHOLD);
-    
-    // Update EMA only when no spike is being investigated
-    // This prevents EMA from "chasing" up to the spike during detection window
-    if (!spikeDetected && !_stalled) {
-        _currentEMA = (STALL_EMA_ALPHA * activeCurrent) + ((1.0f - STALL_EMA_ALPHA) * _currentEMA);
-    }
-    
-    if (spikeDetected) {
-        if (_stallStartTime == 0) {
-            // Start timing potential stall
-            _stallStartTime = now;
-            
-            // Count this as a stall candidate for repeated-spike detection
-            if (_stallCandidateWindowStart == 0) {
-                _stallCandidateWindowStart = now;
-                _stallCandidateCount = 1;
-            } else if ((now - _stallCandidateWindowStart) > STALL_CANDIDATE_WINDOW_MS) {
-                // Window expired, start new window
-                _stallCandidateWindowStart = now;
-                _stallCandidateCount = 1;
-            } else {
-                _stallCandidateCount++;
-            }
-            
-            Serial.printf("Stall candidate #%d: current=%.2fA, avg=%.2fA, delta=%.2fA\n",
-                          _stallCandidateCount, activeCurrent, _currentEMA, delta);
-            
-            // Check if enough candidates to confirm stall (oscillating pattern)
-            if (_stallCandidateCount >= STALL_CANDIDATE_COUNT && !_stalled) {
-                _stalled = true;
-                Serial.printf("STALL DETECTED (repeated spikes)! %d candidates in %lums\n",
-                              _stallCandidateCount, now - _stallCandidateWindowStart);
-                
-                if (_stallCallback != nullptr) {
-                    _stallCallback(activeCurrent);
-                }
-            }
-        } else if ((now - _stallStartTime) > STALL_CONFIRM_MS) {
-            // Sustained spike - stall confirmed
-            if (!_stalled) {
-                _stalled = true;
-                Serial.printf("STALL DETECTED! Current: %.2fA (avg: %.2fA, delta: %.2fA)\n",
-                              activeCurrent, _currentEMA, delta);
-                
-                // Call callback if registered
-                if (_stallCallback != nullptr) {
-                    _stallCallback(activeCurrent);
-                }
-            }
-        }
-    } else {
-        // Current normal, reset spike stall timing (but keep EMA updating)
-        if (_stallStartTime != 0) {
-            Serial.printf("Stall candidate cleared: current=%.2fA, avg=%.2fA\n",
-                          activeCurrent, _currentEMA);
-        }
-        _stallStartTime = 0;
-        // Don't clear _stalled here - under-current/repeated-spike detection may have set it
-    }
-    
-    // Under-current stall detection: motor commanded but not drawing current
-    // This catches stalls where the motor can't even start (e.g., already at end stop)
-    if (!_stalled && activeCurrent < STALL_UNDERCURRENT_THRESHOLD) {
-        if (_undercurrentStartTime == 0) {
-            _undercurrentStartTime = now;
-        } else if ((now - _undercurrentStartTime) > STALL_UNDERCURRENT_MS) {
-            _stalled = true;
-            Serial.printf("STALL DETECTED (under-current)! Current: %.2fA (threshold: %.2fA)\n",
-                          activeCurrent, STALL_UNDERCURRENT_THRESHOLD);
-            
-            if (_stallCallback != nullptr) {
-                _stallCallback(activeCurrent);
-            }
-        }
-    } else if (activeCurrent >= STALL_UNDERCURRENT_THRESHOLD) {
-        // Current is normal, reset under-current timer and clear stall
-        _undercurrentStartTime = 0;
-        if (!spikeDetected) {
-            _stalled = false;
-        }
-    }
-#endif
-}
diff --git a/src/webserver.cpp b/src/webserver.cpp
index 9370251..d195aab 100644
--- a/src/webserver.cpp
+++ b/src/webserver.cpp
@@ -58,15 +58,6 @@ const char index_html[] PROGMEM = R"rawliteral(
             font-size: 12px;
             color: #888;
         }
-        .stall-warning {
-            background: #ff5252;
-            color: white;
-            padding: 10px;
-            border-radius: 5px;
-            margin-bottom: 20px;
-            display: none;
-        }
-        .stall-warning.active { display: block; }
         .slider-container {
             background: #16213e;
             padding: 20px;
@@ -178,18 +169,14 @@ const char index_html[] PROGMEM = R"rawliteral(
     <div class="container">
         <h1>Motor Control</h1>
         
-        <div class="stall-warning" id="stallWarning">
-            ⚠️ STALL DETECTED - Motor Stopped
-        </div>
-        
         <div class="current-display">
             <div>
-                <div class="current-label">CURRENT (Active)</div>
-                <div class="current-value"><span id="currentActive">0.00</span>A</div>
+                <div class="current-label">CURRENT R</div>
+                <div class="current-value"><span id="currentR">0.00</span>A</div>
             </div>
             <div>
-                <div class="current-label">THRESHOLD</div>
-                <div class="current-value" style="color:#ff9100;">4.0A</div>
+                <div class="current-label">CURRENT L</div>
+                <div class="current-value"><span id="currentL">0.00</span>A</div>
             </div>
         </div>
         
@@ -239,12 +226,6 @@ const char index_html[] PROGMEM = R"rawliteral(
                 <span class="value"><span id="ppTimeRandVal">0</span>%</span>
             </div>
             <input type="range" class="setting-slider" id="ppTimeRand" min="0" max="50" value="0">
-            
-            <div class="setting-row" style="margin-top:15px;">
-                <label for="ppStallReturn">Return on stall only</label>
-                <input type="checkbox" id="ppStallReturn" style="width:25px;height:25px;">
-            </div>
-            <small style="color:#888;display:block;margin-top:5px;">When enabled, direction switches only after stall detection (time randomness disabled)</small>
         </div>
         
         <div class="buttons">
@@ -269,16 +250,6 @@ const char index_html[] PROGMEM = R"rawliteral(
         const ppSpeedRandVal = document.getElementById('ppSpeedRandVal');
         const ppTimeRandVal = document.getElementById('ppTimeRandVal');
         const ppStatus = document.getElementById('pingpongStatus');
-        const ppStallReturn = document.getElementById('ppStallReturn');
-        
-        // Disable time randomness when stall return is checked
-        ppStallReturn.onchange = function() {
-            ppTimeRand.disabled = this.checked;
-            if (this.checked) {
-                ppTimeRand.value = 0;
-                ppTimeRandVal.textContent = '0';
-            }
-        };
         
         slider.oninput = function() {
             speedVal.textContent = this.value;
@@ -316,8 +287,7 @@ const char index_html[] PROGMEM = R"rawliteral(
                 speed: ppSpeed.value,
                 time: ppTime.value,
                 speedRand: ppSpeedRand.value,
-                timeRand: ppStallReturn.checked ? 0 : ppTimeRand.value,
-                stallReturn: ppStallReturn.checked ? 1 : 0
+                timeRand: ppTimeRand.value
             });
             fetch('/pingpong/start?' + params)
                 .then(r => r.text())
@@ -350,17 +320,8 @@ const char index_html[] PROGMEM = R"rawliteral(
                     updateStatus();
                     
                     // Update current display
-                    const active = data.direction > 0 ? data.currentR :
-                                   data.direction < 0 ? data.currentL : 0;
-                    document.getElementById('currentActive').textContent = active.toFixed(2);
-                    
-                    // Show/hide stall warning
-                    const stallWarning = document.getElementById('stallWarning');
-                    if (data.stalled) {
-                        stallWarning.classList.add('active');
-                    } else {
-                        stallWarning.classList.remove('active');
-                    }
+                    document.getElementById('currentR').textContent = data.currentR.toFixed(2);
+                    document.getElementById('currentL').textContent = data.currentL.toFixed(2);
                     
                     // Update pingpong status
                     if (data.pingpong) {
@@ -376,8 +337,6 @@ const char index_html[] PROGMEM = R"rawliteral(
                         ppSpeedRandVal.textContent = data.ppSpeedRand;
                         ppTimeRand.value = data.ppTimeRand;
                         ppTimeRandVal.textContent = data.ppTimeRand;
-                        ppStallReturn.checked = data.ppStallReturn;
-                        ppTimeRand.disabled = data.ppStallReturn;
                     } else {
                         ppStatus.textContent = 'INACTIVE';
                         ppStatus.classList.remove('active');
@@ -428,13 +387,11 @@ void handleStatus() {
                   ",\"direction\":" + String(motor.getDirection()) +
                   ",\"currentR\":" + String(motor.getCurrentRight(), 2) +
                   ",\"currentL\":" + String(motor.getCurrentLeft(), 2) +
-                  ",\"stalled\":" + (motor.isStalled() ? "true" : "false") +
                   ",\"pingpong\":" + (motor.isPingpongActive() ? "true" : "false") +
                   ",\"ppSpeed\":" + String(motor.getPingpongSpeed()) +
                   ",\"ppTime\":" + String(motor.getPingpongTime()) +
                   ",\"ppSpeedRand\":" + String(motor.getPingpongSpeedRandom()) +
-                  ",\"ppTimeRand\":" + String(motor.getPingpongTimeRandom()) +
-                  ",\"ppStallReturn\":" + (motor.getPingpongStallReturn() ? "true" : "false") + "}";
+                  ",\"ppTimeRand\":" + String(motor.getPingpongTimeRandom()) + "}";
     server.send(200, "application/json", json);
 }
 
@@ -443,7 +400,6 @@ void handlePingpongStart() {
     int time = 2000;
     int speedRand = 0;
     int timeRand = 0;
-    bool stallReturn = false;
     
     if (server.hasArg("speed")) {
         speed = server.arg("speed").toInt();
@@ -457,11 +413,8 @@ void handlePingpongStart() {
     if (server.hasArg("timeRand")) {
         timeRand = server.arg("timeRand").toInt();
     }
-    if (server.hasArg("stallReturn")) {
-        stallReturn = server.arg("stallReturn").toInt() != 0;
-    }
     
-    motor.startPingpong(speed, time, speedRand, timeRand, stallReturn);
+    motor.startPingpong(speed, time, speedRand, timeRand);
     server.send(200, "text/plain", "OK");
 }
 

From dd274202bbee187fe99eb378de5657fbb19e43d5 Mon Sep 17 00:00:00 2001
From: devdesk <tami@tami.org.il>
Date: Thu, 5 Feb 2026 21:06:00 +0200
Subject: [PATCH 2/4] Add 'STOPPED (manual)' message to serial output

---
 src/motor.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/motor.cpp b/src/motor.cpp
index d6fc3a9..b37bfd2 100644
--- a/src/motor.cpp
+++ b/src/motor.cpp
@@ -58,6 +58,7 @@ void MotorController::stop() {
     _direction = 0;
     ledcWrite(PWM_CHANNEL_R, 0);
     ledcWrite(PWM_CHANNEL_L, 0);
+    Serial.println("Motor: STOPPED (manual)");
 }
 
 void MotorController::update() {

From 3aec7250c964e1877be4625dc029e84048ac8f11 Mon Sep 17 00:00:00 2001
From: devdesk <tami@tami.org.il>
Date: Thu, 5 Feb 2026 21:10:07 +0200
Subject: [PATCH 3/4] Add branch plan documentation and sample current log data

- plans/remove-stall-detection-branch.md: Documents what was removed, data analysis, and next steps
- src/current_loggin.log: Sample current data showing clear stall signatures
---
 plans/remove-stall-detection-branch.md | 104 ++++++++++++++++++++
 src/current_loggin.log                 | 128 +++++++++++++++++++++++++
 2 files changed, 232 insertions(+)
 create mode 100644 plans/remove-stall-detection-branch.md
 create mode 100644 src/current_loggin.log

diff --git a/plans/remove-stall-detection-branch.md b/plans/remove-stall-detection-branch.md
new file mode 100644
index 0000000..8d62b76
--- /dev/null
+++ b/plans/remove-stall-detection-branch.md
@@ -0,0 +1,104 @@
+# Branch: feature/remove-stall-detection
+
+## Summary
+
+Removed all stall detection logic to collect clean current data with new beefy PSU before reimplmenting simpler stall detection.
+
+## Problem
+
+The original stall detection was overly complex with:
+- Delta-based spike detection with EMA averaging
+- Under-current detection
+- Repeated spike detection for oscillating patterns  
+- Multiple timing thresholds and stabilization periods
+- 16 configuration parameters
+
+This complexity was trying to compensate for a weak PSU that couldn't provide enough current, causing unreliable stall detection.
+
+## What Was Removed
+
+### config.h
+- `STALL_DELTA_THRESHOLD` 
+- `STALL_EMA_ALPHA`
+- `STALL_EMA_BASELINE`
+- `STALL_STABILIZE_MS`
+- `STALL_CONFIRM_MS`
+- `DISABLE_STALL_DETECT`
+- `STALL_UNDERCURRENT_THRESHOLD`
+- `STALL_UNDERCURRENT_MS`
+- `STALL_CANDIDATE_COUNT`
+- `STALL_CANDIDATE_WINDOW_MS`
+
+### motor.h / motor.cpp
+- `checkStall()` function (~115 lines)
+- `resetStallDetection()` function
+- `isStalled()` method
+- `setStallCallback()` method
+- `getPingpongStallReturn()` method
+- All stall-related member variables
+
+### webserver.cpp
+- Stall warning UI banner
+- "Return on stall only" checkbox
+- `stalled` and `ppStallReturn` from status JSON
+
+### main.cpp
+- `onMotorStall()` callback function
+
+## What Was Added
+
+- `CURRENT_LOG_INTERVAL_MS` config (100ms)  
+- Frequent current logging: `CURRENT: R=%.2fA L=%.2fA dir=%d spd=%d`
+- "Motor: STOPPED (manual)" message
+
+## Current Data Analysis
+
+See [src/current_loggin.log](../src/current_loggin.log) for sample data.
+
+### Running Current (motor moving freely)
+- **Range:** 0.67A - 2.64A
+- **Average:** ~1.5-2.0A
+
+### Stall Current (motor blocked at end stop)
+- **Range:** 16.8A - 21.0A  
+- **Average:** ~17-18A
+
+### Key Observations
+1. **Clear separation:** Running ~2A vs Stall ~17A = 8.5x difference
+2. **Fast transition:** Stall spike happens within 1-2 samples (100-200ms)
+3. **Initial spike:** Can see 3.77A or 5.35A briefly before full stall current
+4. **Gradual decay:** Stall current trends down slightly over time (~21A → ~17A)
+
+## Next Step: Simple Stall Detection
+
+Based on the clean data, implement a simple threshold-based stall detection:
+
+### Proposed Algorithm
+```
+IF motor is running (dir != 0 AND speed > 0):
+    IF active_current > STALL_THRESHOLD for STALL_CONFIRM_SAMPLES:
+        STALL DETECTED
+```
+
+### Proposed Config (much simpler)
+```c
+#define STALL_THRESHOLD 8.0f      // Amps - midpoint between 2A run and 17A stall
+#define STALL_CONFIRM_SAMPLES 3   // Debounce: 3 samples = 300ms at 100ms interval
+```
+
+### Why This Should Work
+- With beefy PSU, running current is stable ~2A
+- Stall current is clearly ~17A+
+- No need for EMA averaging or complex spike detection
+- Simple threshold + debounce is enough
+
+## Files Changed
+
+| File | Lines Removed | Lines Added |
+|------|---------------|-------------|
+| config.h | 16 | 2 |
+| motor.h | 26 | 0 |
+| motor.cpp | 180 | 1 |
+| webserver.cpp | 50 | 5 |
+| main.cpp | 12 | 1 |
+| **Total** | **284** | **9** |
diff --git a/src/current_loggin.log b/src/current_loggin.log
new file mode 100644
index 0000000..85457f9
--- /dev/null
+++ b/src/current_loggin.log
@@ -0,0 +1,128 @@
+CURRENT: R=0.00A L=0.00A dir=0 spd=0
+CURRENT: R=0.00A L=0.00A dir=0 spd=0
+CURRENT: R=0.00A L=0.00A dir=0 spd=0
+CURRENT: R=0.00A L=0.00A dir=0 spd=0
+CURRENT: R=0.00A L=0.00A dir=0 spd=0
+CURRENT: R=0.00A L=0.00A dir=0 spd=0
+CURRENT: R=0.00A L=0.00A dir=0 spd=0
+CURRENT: R=0.00A L=0.00A dir=0 spd=0
+Motor: dir=1, speed=0%, pwm=0
+CURRENT: R=0.00A L=0.00A dir=1 spd=0
+CURRENT: R=0.00A L=0.00A dir=1 spd=0
+CURRENT: R=0.00A L=0.00A dir=1 spd=0
+CURRENT: R=0.00A L=0.00A dir=1 spd=0
+CURRENT: R=0.00A L=0.00A dir=1 spd=0
+CURRENT: R=0.00A L=0.00A dir=1 spd=0
+CURRENT: R=0.00A L=0.00A dir=1 spd=0
+CURRENT: R=0.00A L=0.00A dir=1 spd=0
+CURRENT: R=0.00A L=0.00A dir=1 spd=0
+CURRENT: R=0.00A L=0.00A dir=1 spd=0
+Motor: dir=-1, speed=0%, pwm=0
+CURRENT: R=0.00A L=0.00A dir=-1 spd=0
+CURRENT: R=0.00A L=0.00A dir=-1 spd=0
+CURRENT: R=0.00A L=0.00A dir=-1 spd=0
+CURRENT: R=0.00A L=0.00A dir=-1 spd=0
+CURRENT: R=0.00A L=0.00A dir=-1 spd=0
+CURRENT: R=0.00A L=0.00A dir=-1 spd=0
+CURRENT: R=0.00A L=0.00A dir=-1 spd=0
+CURRENT: R=0.00A L=0.00A dir=-1 spd=0
+Motor: dir=-1, speed=100%, pwm=255
+CURRENT: R=0.00A L=0.88A dir=-1 spd=100
+CURRENT: R=0.00A L=2.07A dir=-1 spd=100
+CURRENT: R=0.00A L=1.49A dir=-1 spd=100
+CURRENT: R=0.00A L=2.56A dir=-1 spd=100
+CURRENT: R=0.00A L=1.25A dir=-1 spd=100
+Motor: dir=-1, speed=100%, pwm=255
+CURRENT: R=0.00A L=1.10A dir=-1 spd=100
+CURRENT: R=0.00A L=2.18A dir=-1 spd=100
+CURRENT: R=0.00A L=1.36A dir=-1 spd=100
+CURRENT: R=0.00A L=1.28A dir=-1 spd=100
+CURRENT: R=0.00A L=2.39A dir=-1 spd=100
+CURRENT: R=0.00A L=1.47A dir=-1 spd=100
+CURRENT: R=0.00A L=1.25A dir=-1 spd=100
+CURRENT: R=0.00A L=1.31A dir=-1 spd=100
+CURRENT: R=0.00A L=2.02A dir=-1 spd=100
+CURRENT: R=0.00A L=1.36A dir=-1 spd=100
+CURRENT: R=0.00A L=2.35A dir=-1 spd=100
+CURRENT: R=0.00A L=1.24A dir=-1 spd=100
+CURRENT: R=0.00A L=1.57A dir=-1 spd=100
+CURRENT: R=0.00A L=2.64A dir=-1 spd=100
+CURRENT: R=0.00A L=1.32A dir=-1 spd=100
+CURRENT: R=0.00A L=2.52A dir=-1 spd=100
+CURRENT: R=0.00A L=3.77A dir=-1 spd=100
+CURRENT: R=0.00A L=21.04A dir=-1 spd=100
+CURRENT: R=0.00A L=18.61A dir=-1 spd=100
+CURRENT: R=0.00A L=19.38A dir=-1 spd=100
+CURRENT: R=0.00A L=17.53A dir=-1 spd=100
+CURRENT: R=0.00A L=17.53A dir=-1 spd=100
+CURRENT: R=0.00A L=17.50A dir=-1 spd=100
+CURRENT: R=0.00A L=17.41A dir=-1 spd=100
+CURRENT: R=0.00A L=17.30A dir=-1 spd=100
+CURRENT: R=0.00A L=17.28A dir=-1 spd=100
+CURRENT: R=0.00A L=17.21A dir=-1 spd=100
+CURRENT: R=0.00A L=17.17A dir=-1 spd=100
+CURRENT: R=0.00A L=17.06A dir=-1 spd=100
+CURRENT: R=0.00A L=16.99A dir=-1 spd=100
+Motor: dir=1, speed=100%, pwm=255
+CURRENT: R=0.00A L=0.00A dir=1 spd=100
+CURRENT: R=1.77A L=0.00A dir=1 spd=100
+CURRENT: R=1.36A L=0.00A dir=1 spd=100
+CURRENT: R=2.19A L=0.00A dir=1 spd=100
+CURRENT: R=2.10A L=0.00A dir=1 spd=100
+CURRENT: R=1.18A L=0.00A dir=1 spd=100
+CURRENT: R=1.36A L=0.00A dir=1 spd=100
+CURRENT: R=1.24A L=0.00A dir=1 spd=100
+CURRENT: R=1.50A L=0.00A dir=1 spd=100
+CURRENT: R=1.45A L=0.00A dir=1 spd=100
+CURRENT: R=2.01A L=0.00A dir=1 spd=100
+CURRENT: R=1.64A L=0.00A dir=1 spd=100
+CURRENT: R=2.10A L=0.00A dir=1 spd=100
+CURRENT: R=1.31A L=0.00A dir=1 spd=100
+CURRENT: R=2.34A L=0.00A dir=1 spd=100
+CURRENT: R=1.90A L=0.00A dir=1 spd=100
+CURRENT: R=1.46A L=0.00A dir=1 spd=100
+CURRENT: R=1.60A L=0.00A dir=1 spd=100
+CURRENT: R=2.27A L=0.00A dir=1 spd=100
+CURRENT: R=1.96A L=0.00A dir=1 spd=100
+CURRENT: R=3.08A L=0.00A dir=1 spd=100
+CURRENT: R=15.12A L=0.00A dir=1 spd=100
+CURRENT: R=18.53A L=0.00A dir=1 spd=100
+CURRENT: R=20.75A L=0.00A dir=1 spd=100
+CURRENT: R=19.59A L=0.00A dir=1 spd=100
+CURRENT: R=18.54A L=0.00A dir=1 spd=100
+CURRENT: R=17.88A L=0.00A dir=1 spd=100
+CURRENT: R=17.35A L=0.00A dir=1 spd=100
+CURRENT: R=17.06A L=0.00A dir=1 spd=100
+CURRENT: R=16.99A L=0.00A dir=1 spd=100
+CURRENT: R=16.85A L=0.00A dir=1 spd=100
+CURRENT: R=16.90A L=0.00A dir=1 spd=100
+CURRENT: R=16.84A L=0.00A dir=1 spd=100
+CURRENT: R=16.81A L=0.00A dir=1 spd=100
+Motor: dir=-1, speed=100%, pwm=255
+CURRENT: R=0.00A L=5.35A dir=-1 spd=100
+CURRENT: R=0.00A L=0.46A dir=-1 spd=100
+CURRENT: R=0.00A L=2.29A dir=-1 spd=100
+CURRENT: R=0.00A L=0.86A dir=-1 spd=100
+CURRENT: R=0.00A L=2.22A dir=-1 spd=100
+CURRENT: R=0.00A L=1.90A dir=-1 spd=100
+CURRENT: R=0.00A L=1.00A dir=-1 spd=100
+CURRENT: R=0.00A L=1.33A dir=-1 spd=100
+CURRENT: R=0.00A L=1.42A dir=-1 spd=100
+CURRENT: R=0.00A L=1.27A dir=-1 spd=100
+CURRENT: R=0.00A L=1.25A dir=-1 spd=100
+CURRENT: R=0.00A L=2.21A dir=-1 spd=100
+CURRENT: R=0.00A L=0.67A dir=-1 spd=100
+CURRENT: R=0.00A L=0.85A dir=-1 spd=100
+Motor: STOPPED (manual)
+CURRENT: R=0.00A L=0.00A dir=0 spd=100
+CURRENT: R=0.00A L=0.00A dir=0 spd=100
+CURRENT: R=0.00A L=0.00A dir=0 spd=100
+CURRENT: R=0.00A L=0.00A dir=0 spd=100
+CURRENT: R=0.00A L=0.00A dir=0 spd=100
+CURRENT: R=0.00A L=0.00A dir=0 spd=100
+CURRENT: R=0.00A L=0.00A dir=0 spd=100
+CURRENT: R=0.00A L=0.00A dir=0 spd=100
+CURRENT: R=0.00A L=0.00A dir=0 spd=100
+CURRENT: R=0.00A L=0.00A dir=0 spd=100
+CURRENT: R=0.00A L=0.00A dir=0 spd=100
+CURRENT: R=0.00A L=0.00A dir=0 spd=100
\ No newline at end of file

From dffb859826fd3188dc05087f3d3486e57ca4afae Mon Sep 17 00:00:00 2001
From: devdesk <tami@tami.org.il>
Date: Thu, 5 Feb 2026 21:29:38 +0200
Subject: [PATCH 4/4] feat: add simple stall detection with threshold +
 debounce

- Add STALL_THRESHOLD (8A) and STALL_CONFIRM_SAMPLES (3) config
- Add 500ms stabilization delay after direction change to prevent false positives
- Add stall warning banner in web UI
- Stop motor and pingpong when stall detected

Algorithm: If active current > 8A for 3 consecutive samples (300ms),
and motor has been running for at least 500ms, trigger stall callback.
---
 include/config.h  |  6 +++++
 include/motor.h   | 15 +++++++++++
 src/main.cpp      | 10 ++++++-
 src/motor.cpp     | 66 ++++++++++++++++++++++++++++++++++++++++++++++-
 src/webserver.cpp | 24 +++++++++++++++++
 5 files changed, 119 insertions(+), 2 deletions(-)

diff --git a/include/config.h b/include/config.h
index f166813..6ae6458 100644
--- a/include/config.h
+++ b/include/config.h
@@ -40,6 +40,12 @@
 // Current logging interval for data collection
 #define CURRENT_LOG_INTERVAL_MS 100  // Log current readings every 100ms
 
+// Simple Stall Detection
+// Based on clean data: Running ~2A, Stall ~17A (8.5x difference)
+#define STALL_THRESHOLD 8.0f          // Amps - midpoint between 2A run and 17A stall
+#define STALL_CONFIRM_SAMPLES 3       // Debounce: 3 samples = 300ms at 100ms interval
+#define STALL_STABILIZE_MS 500        // Ignore current spikes for 500ms after direction change
+
 // Web Server
 #define HTTP_PORT 80
 
diff --git a/include/motor.h b/include/motor.h
index 891e9f3..467c22c 100644
--- a/include/motor.h
+++ b/include/motor.h
@@ -4,6 +4,9 @@
 #include <Arduino.h>
 #include "config.h"
 
+// Stall callback function type
+typedef void (*StallCallback)();
+
 class MotorController {
 public:
     void begin();
@@ -18,6 +21,11 @@ public:
     float getCurrentLeft();          // Current in amps (reverse direction)
     float getCurrentActive();        // Current from active direction
     
+    // Stall detection
+    bool isStalled();
+    void setStallCallback(StallCallback callback);
+    void resetStallDetection();
+    
     // Pingpong mode (time-based only)
     void startPingpong(int speed, int timeMs, int speedRandomPercent, int timeRandomPercent);
     void stopPingpong();
@@ -48,11 +56,18 @@ private:
     unsigned long _pingpongLastSwitch = 0;
     int _pingpongDirection = 1;
     
+    // Stall detection state
+    bool _stalled = false;
+    int _stallConfirmCount = 0;
+    StallCallback _stallCallback = nullptr;
+    unsigned long _lastDirectionChangeTime = 0;
+    
     void applyMotorState();
     float readCurrentSense(int pin);
     void calibrateCurrentOffset();
     void updatePingpong();
     int applyRandomness(int baseValue, int randomPercent);
+    void checkStall();
 };
 
 extern MotorController motor;
diff --git a/src/main.cpp b/src/main.cpp
index b6d6d40..4ece2de 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -4,6 +4,13 @@
 #include "motor.h"
 #include "webserver.h"
 
+// Called when motor stall is detected
+void onMotorStall() {
+    Serial.println("Stall callback triggered - stopping motor!");
+    motor.stop();
+    motor.stopPingpong();
+}
+
 void setupWiFi() {
     Serial.println("Connecting to WiFi...");
     
@@ -39,11 +46,12 @@ void setup() {
     
     Serial.println("\n=============================");
     Serial.println("  BTS7960 Motor Controller");
-    Serial.println("  (Stall Detection Removed)");
+    Serial.println("  Simple Stall Detection");
     Serial.println("=============================\n");
     
     // Initialize motor controller
     motor.begin();
+    motor.setStallCallback(onMotorStall);
     
     // Connect to WiFi
     setupWiFi();
diff --git a/src/motor.cpp b/src/motor.cpp
index b37bfd2..76b2364 100644
--- a/src/motor.cpp
+++ b/src/motor.cpp
@@ -49,7 +49,12 @@ void MotorController::setSpeed(int speed) {
 }
 
 void MotorController::setDirection(int dir) {
-    _direction = constrain(dir, -1, 1);
+    int newDir = constrain(dir, -1, 1);
+    if (newDir != _direction) {
+        _lastDirectionChangeTime = millis();
+        resetStallDetection();
+    }
+    _direction = newDir;
     applyMotorState();
 }
 
@@ -58,6 +63,7 @@ void MotorController::stop() {
     _direction = 0;
     ledcWrite(PWM_CHANNEL_R, 0);
     ledcWrite(PWM_CHANNEL_L, 0);
+    resetStallDetection();
     Serial.println("Motor: STOPPED (manual)");
 }
 
@@ -76,6 +82,9 @@ void MotorController::update() {
         Serial.printf("CURRENT: R=%.2fA L=%.2fA dir=%d spd=%d\n",
                       _currentRight, _currentLeft, _direction, _speed);
     }
+    
+    // Check for stall condition
+    checkStall();
 #endif
     
     // Update pingpong mode
@@ -107,6 +116,61 @@ float MotorController::getCurrentActive() {
     return 0.0f;
 }
 
+// Stall detection
+bool MotorController::isStalled() {
+    return _stalled;
+}
+
+void MotorController::setStallCallback(StallCallback callback) {
+    _stallCallback = callback;
+}
+
+void MotorController::resetStallDetection() {
+    _stalled = false;
+    _stallConfirmCount = 0;
+}
+
+void MotorController::checkStall() {
+    // Only check when motor is running
+    if (_direction == 0 || _speed == 0) {
+        resetStallDetection();
+        return;
+    }
+    
+    // Skip stall check during stabilization period after direction change
+    // (prevents false positives from inrush current spikes)
+    if ((millis() - _lastDirectionChangeTime) < STALL_STABILIZE_MS) {
+        return;
+    }
+    
+    float activeCurrent = getCurrentActive();
+    
+    // Simple threshold-based stall detection with debounce
+    if (activeCurrent > STALL_THRESHOLD) {
+        _stallConfirmCount++;
+        
+        if (_stallConfirmCount >= STALL_CONFIRM_SAMPLES && !_stalled) {
+            _stalled = true;
+            Serial.printf("STALL DETECTED! Current=%.2fA (threshold=%.1fA)\n",
+                          activeCurrent, STALL_THRESHOLD);
+            
+            // Call stall callback if registered
+            if (_stallCallback != nullptr) {
+                _stallCallback();
+            }
+        }
+    } else {
+        // Reset counter if current drops below threshold
+        _stallConfirmCount = 0;
+        
+        // Clear stall flag if current returns to normal
+        if (_stalled) {
+            _stalled = false;
+            Serial.println("Stall condition cleared");
+        }
+    }
+}
+
 void MotorController::applyMotorState() {
     // Apply minimum PWM when motor is running
     int effectiveSpeed = _speed;
diff --git a/src/webserver.cpp b/src/webserver.cpp
index d195aab..a3088db 100644
--- a/src/webserver.cpp
+++ b/src/webserver.cpp
@@ -109,6 +109,19 @@ const char index_html[] PROGMEM = R"rawliteral(
             border-top: 2px solid #0f3460;
             margin: 30px 0;
         }
+        .stall-warning {
+            background: #ff5252;
+            color: white;
+            padding: 15px;
+            border-radius: 10px;
+            margin-bottom: 20px;
+            font-weight: bold;
+            font-size: 18px;
+            display: none;
+        }
+        .stall-warning.active {
+            display: block;
+        }
         .pingpong-section {
             background: #16213e;
             padding: 20px;
@@ -169,6 +182,8 @@ const char index_html[] PROGMEM = R"rawliteral(
     <div class="container">
         <h1>Motor Control</h1>
         
+        <div class="stall-warning" id="stallWarning">⚠️ STALL DETECTED!</div>
+        
         <div class="current-display">
             <div>
                 <div class="current-label">CURRENT R</div>
@@ -323,6 +338,14 @@ const char index_html[] PROGMEM = R"rawliteral(
                     document.getElementById('currentR').textContent = data.currentR.toFixed(2);
                     document.getElementById('currentL').textContent = data.currentL.toFixed(2);
                     
+                    // Update stall warning
+                    const stallWarning = document.getElementById('stallWarning');
+                    if (data.stalled) {
+                        stallWarning.classList.add('active');
+                    } else {
+                        stallWarning.classList.remove('active');
+                    }
+                    
                     // Update pingpong status
                     if (data.pingpong) {
                         ppStatus.textContent = 'ACTIVE';
@@ -387,6 +410,7 @@ void handleStatus() {
                   ",\"direction\":" + String(motor.getDirection()) +
                   ",\"currentR\":" + String(motor.getCurrentRight(), 2) +
                   ",\"currentL\":" + String(motor.getCurrentLeft(), 2) +
+                  ",\"stalled\":" + (motor.isStalled() ? "true" : "false") +
                   ",\"pingpong\":" + (motor.isPingpongActive() ? "true" : "false") +
                   ",\"ppSpeed\":" + String(motor.getPingpongSpeed()) +
                   ",\"ppTime\":" + String(motor.getPingpongTime()) +