Cortex Faults

Is there any code to record or identify faults that cause the the robot to stop?
I assume that I have tripped the breaker or lost the 7.2 volt battery when the robot stops responding. Is there any code that can read the current draw on motors, so the Cortex could slow the motor before breaker trips?

Unfortunately there is no code to monitor current draw. You can look at the battery voltage in relation to the PWM commands and see if you can see a spike in battery voltage under load. This would indicate that a breaker may have tripped.