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();