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thanks for the book advice, ill have to take a look at it. with respect to the fat protection diode: wouldnt that cause a voltage drop? or is that negligable?
is there anyway to put it in parallel and it still be effective?
also, im using a seperate power supply for my mcu, so thats all taken care of. and my motor stall current is higher than the motor driver rating, but not by much and im gonna put in some fuses for that, and i may be naive for saying this but i dont expect the motors to stall, stall torque is 123 oz/in. which may be overkill. i also say this based on the wheels i will be using, but not at all based on an obstacle avoidance system that hasnt been thought about yet. thats why i am not to concerned about the weight of the battery. granted in a couple weeks i may be eating my words. i am basically designing the robot around the type of performance i want rather than putting some stuff together that works and then figuring it out when im done. i may find out the hard way that its not going to work out. but thats what learning is about right? learning from ones and others mistakes. thank you for your help