- Use exponential moving average (EMA) to track normal running current
- Detect stall when current spikes above average by STALL_DELTA_THRESHOLD (2.0A)
- Add stabilization period (500ms) after motor start to let EMA settle
- Stall confirmation requires spike to persist for STALL_CONFIRM_MS (100ms)
- EMA stops updating during stall to prevent threshold creep
- Removes dependency on absolute current threshold that varied with speed
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