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Stall Detection DC Motors MCU Analog

Stall Detection

Ok, here's my problem for you guys.  How do you use a MCU(Arduino, PIC, Stamp, etc) to detect if the bot has a motor stalled on it. I know it can be done, because I've read about bots that are bumperless and detect which motor(s) are stalled for collision detection.  Yes, I know you measure the amps that the motor is pulling, but how do you use the microcontroller to do it?