Can It Be this SIMPLE?

[Acetronics2]

Hi, Joe

I see something ... a DC motor Torque is a major function of the drawn current ...

soooo, limiting the Max current is a fair way to achieve your goal.

Now how ??? ... Mosfets have an internal ON resistance ... so, using PWM, just measure the D to S voltage, during the ON state ( 100% will also work ...), exactly as with a shunt ...
A simple comparator will short the gate voltage to ground if overcurrent... and allow to easily trim the limit.

That's what used on Power speed regulators for Electric models ...

now, you DO NOT have PWM aboard ... so, just sample D/S Voltage , say @ 500 hz to 3 KHz ( match to the motor ). Limitation will then be smooth enough.

Using a PIC to slowly automatically increase the PWM rate will add the soft start function ... and you've what you want

AND the MOTOR is SAFELY DRIVEN ...

Alain