Motor Hat V2 currency measuring for motor

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I am using Adeept Motor Hat V2 on the Mars Robot with Raspberry Pi. I would like to detect blocked wheels driven by the Robot Motor. Is there a way to get the info on the current used for driving the motor? As I have studied the schema of the Motor Hat V2 it seems that on PIN 2 and 19 on the citcuit L298P (SENA and SENB) there is potentially info available on the current used for controlling the motor.
If reading on the description for the Motor Hat shield for arduino SNSA and SNSB would give a voltage analog to the current used by the motor.

Question: Is SENA and SENB equivalent to the SNSA and SNSB and is there a connection point available for this purpose?

1597721285

Raspberry Pi uses digital information, and it is impossible to obtain current information to control the motor by measuring PIN 2 and 19.

1728301805

Yes, SENA and SENB on the Adeept Motor Hat V2 are equivalent to SNSA and SNSB on the L298P motor driver. These pins provide a voltage proportional to the motor current, which can be used to monitor the current drawn by the motors, useful for detecting issues like blocked wheels.

To access the current sense pins, check the documentation or schematic of the Adeept Motor Hat V2. If the pins are not directly exposed, you may need to manually solder wires to the L298P pins or modify the board. Measure the voltage on pins 2 (SENA) and 19 (SENB) with a multimeter to confirm.

Once you have access to the sense voltage, you can feed it into an ADC to monitor current in your code. Spikes or unusually high currents could indicate a blocked motor, allowing you to take corrective action in your robot's software.


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