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

@@ -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

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);
 };