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/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