Finished my assembly today, based on the short test I did it works great!
I modified the code quite a bit and got a (as I think) little simpler solution. I still want to change the way the amperage is interpreted by the code to get the full range of the potentiometer for fine tuning, since the ADS712 outputs around 2.5V with no spinning motor and values above that when really measuring current. I in fact assume that the input voltage to the cytron is constant, so the power drawn is directly proportional to the drawn current. So I simply compare the measure value of the potentiometer to the value of the ammeter, not dealing with real values. That way I dont need to measure the voltage. I also have no LCD, so no code for that.
I use the 2 channel relay to act as a steering switch and to break the circuit between cytron and motor when autosteer is disabled.
Test_Disengage.ino (620 Bytes)