I need to control low current motors and I can tell that the current reading is all over the place. So I want to replace the current shunts for my motor. The rated current is 2.5A so I calculated the resistance of the new shunts I installed according to this post on the forums from madcowswe.
I picked 5A for I_RANGE to ensure there is some headroom.
Only changing SHUNT_RESISTANCE should be sufficient.
MOTOR_ERROR_CURRENT_SENSE_SATURATION means that the ADC received an input voltage outside of [0.3V, 3.0V]. The other error is a result of this error.
Maybe you need to adapt motor.config.requested_current_range so that the opamp is configured to an appropriate gain. You can inspect motor.max_allowed_current and motor.phase_current_rev_gain to find out what opamp gain was selected.
Otherwise you can find out more if you put an oscilloscope probe on the current sense line (between the opamp and the MCU).