Update stall detection params and expand documentation

- Adjust stall current threshold to 4A and detection time to 2500ms
- Add comprehensive README with hardware specs, wiring diagrams
- Include current sensing circuit documentation and math
- Improve motor and webserver implementations

src/main.cpp

@@ -33,6 +33,12 @@ void setupWiFi() {
     }
 }
 
+// Stall protection callback - stops motor immediately when stall detected
+void onMotorStall(float current) {
+    Serial.printf("STALL PROTECTION: Stopping motor (current: %.2fA)\n", current);
+    motor.stop();
+}
+
 void setup() {
     Serial.begin(115200);
     delay(1000);
@@ -44,6 +50,9 @@ void setup() {
     // Initialize motor controller
     motor.begin();
     
+    // Register stall protection callback
+    motor.setStallCallback(onMotorStall);
+    
     // Connect to WiFi
     setupWiFi();
     

src/motor.cpp

@@ -1,7 +1,7 @@
 #include "motor.h"
 
 // Set to true to enable current sensing (requires R_IS and L_IS connected)
-#define CURRENT_SENSING_ENABLED false
+#define CURRENT_SENSING_ENABLED true
 
 MotorController motor;
 
@@ -62,10 +62,19 @@ void MotorController::stop() {
 
 void MotorController::update() {
 #if CURRENT_SENSING_ENABLED
+    static unsigned long lastPrintTime = 0;
+    
     // Read current sensors
     _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();
+        Serial.printf("Current: R=%.2fA L=%.2fA Active=%.2fA (threshold=%.1fA)\n",
+                      _currentRight, _currentLeft, getCurrentActive(), STALL_CURRENT_THRESHOLD);
+    }
+    
     // Check for stall condition
     checkStall();
 #endif

src/webserver.cpp

@@ -28,17 +28,44 @@ const char index_html[] PROGMEM = R"rawliteral(
             text-align: center;
         }
         h1 { color: #00d9ff; margin-bottom: 30px; }
-        .status { 
-            background: #16213e; 
-            padding: 15px; 
-            border-radius: 10px; 
+        .status {
+            background: #16213e;
+            padding: 15px;
+            border-radius: 10px;
             margin-bottom: 20px;
         }
-        .status span { 
-            font-size: 24px; 
-            font-weight: bold; 
+        .status span {
+            font-size: 24px;
+            font-weight: bold;
             color: #00d9ff;
         }
+        .current-display {
+            background: #16213e;
+            padding: 15px;
+            border-radius: 10px;
+            margin-bottom: 20px;
+            display: grid;
+            grid-template-columns: 1fr 1fr;
+            gap: 10px;
+        }
+        .current-value {
+            font-size: 28px;
+            font-weight: bold;
+            color: #00d9ff;
+        }
+        .current-label {
+            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; 
@@ -92,6 +119,21 @@ 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>
+            <div>
+                <div class="current-label">THRESHOLD</div>
+                <div class="current-value" style="color:#ff9100;">4.0A</div>
+            </div>
+        </div>
+        
         <div class="status">
             Direction: <span id="dirStatus">STOPPED</span>
         </div>
@@ -147,15 +189,33 @@ const char index_html[] PROGMEM = R"rawliteral(
             else dirStatus.textContent = 'STOPPED';
         }
         
-        // Get initial state
-        fetch('/status')
-            .then(r => r.json())
-            .then(data => {
-                slider.value = data.speed;
-                speedVal.textContent = data.speed;
-                currentDir = data.direction;
-                updateStatus();
-            });
+        function pollStatus() {
+            fetch('/status')
+                .then(r => r.json())
+                .then(data => {
+                    slider.value = data.speed;
+                    speedVal.textContent = data.speed;
+                    currentDir = data.direction;
+                    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');
+                    }
+                });
+        }
+        
+        // Poll status every 500ms
+        pollStatus();
+        setInterval(pollStatus, 500);
     </script>
 </body>
 </html>