I been reading this thread and will go read more as you referred to. Drive train is the subsystem i was investigating. I’m thinking about a simple if command power > 50%×127 && command velocity != velocity then command power = 50%×127. Obviously going to have to test windows and i don’t know if 50% is the safe ptc trip avoidance. Our robots are simple pushers and hand loaded dump bots. The dump bot might gain a sweeper after the holiday week.