fechter (spelt correctly this time), I measure the battery current, know the PWM and hence can calculate the motor current.
One thing I am going to implement is battery current limiting using the speed of the motor to calculate the max PWM to give a maximum battery current for each battery, being a twin battery controller.
This is secondary to the hardware current limit (20A per battery) already there, a more elegant solution than just cutting off the PWM to reduce the amps. I can hear the motor 'fizz' when the limit comes in probably due to the somewhat random nature of the hardware limit.
But first, after the garden party for my wifes birthday on Saturday, try some phase advance. As my magneticaly sprung 'throttle' swings both ways (!) I think I will have one side normal PWM up and side two full PWM with increasing advance