Update.
I've re-done the entire circuit, this time adding current sensors and an EMI filter to prevent the circuit from sending that pesky noise down the line that was affecting other controllers. I still need to add some more lines of code to the MCU to make proper use of the current sensors, but that should prove to be fairly simple.
The sensors are connected to an IC that outputs a lineal 0-5V signal depending on the RMS current being consumed by the motors. This signal is then connected to a comparator, whose other input is connected to a pot configured as a voltage divider. The comparator's output is connected to the MCU, which will reverse the motor a little bit before attempting to feed it forward again. It will then stop the motor and raise an alarm if this condition happens too many times.
I've re-done the entire circuit, this time adding current sensors and an EMI filter to prevent the circuit from sending that pesky noise down the line that was affecting other controllers. I still need to add some more lines of code to the MCU to make proper use of the current sensors, but that should prove to be fairly simple.
The sensors are connected to an IC that outputs a lineal 0-5V signal depending on the RMS current being consumed by the motors. This signal is then connected to a comparator, whose other input is connected to a pot configured as a voltage divider. The comparator's output is connected to the MCU, which will reverse the motor a little bit before attempting to feed it forward again. It will then stop the motor and raise an alarm if this condition happens too many times.



