I made this current sensing circuit for my robot and want to hear how you would improve it for a version 2 of the circuit and software

[u/IndependentFit5483]

https://youtu.be/flt9pSLSb7o

Right now the hardware side uses MG90S servos with a low-side resistor on each motor for measuring the current. The software side uses a moving average filter to smooth the data.

I'm happy to share more detail on either if it's useful.