An apparatus comprising: a feed roller motor velocity and torque determination module configured to ascertain a velocity and torque for a feed roller motor associated with a feed roller; a drive roller motor velocity and torque determination module configured to ascertain a velocity and torque for a drive roller motor associated with a drive roller that is to receive media from the feed roller; a torque control module configured to reduce the torque for the drive roller motor to the torque target, and to maintain the torque for the drive roller motor at the torque target; and a velocity control module configured to allow, during the maintenance of the torque for the drive roller motor at the torque target, variations in the velocity for the drive roller motor; a processor; and a non-transitory computer readable medium storing machine readable instructions that, when executed: cause the feed roller motor velocity and torque determination module to ascertain the velocity and torque for the feed roller motor associated with the feed roller; cause the drive roller motor velocity and torque determination module to ascertain the velocity and torque for the drive roller motor associated with the drive roller; cause the processor to determine whether the torque for the drive roller motor is greater than a torque target; and in response to a determination that the torque for the drive roller motor is greater than the torque target; cause the torque control module to reduce the torque for the drive roller motor to the torque target and maintain the torque for the drive roller motor at the torque target; and cause the velocity control module to allow, during the maintenance of the torque for the drive roller motor at the torque target, variations in the velocity for the drive roller motor. a feed roller motor velocity and torque determination module configured to ascertain a velocity and torque for a feed roller motor associated with a feed roller; a drive roller motor velocity and torque determination module configured to ascertain a velocity and torque for a drive roller motor associated with a drive roller that is to receive media from the feed roller; a torque control module configured to reduce the torque for the drive roller motor to the torque target, and to maintain the torque for the drive roller motor at the torque target; and a velocity control module configured to allow, during the maintenance of the torque for the drive roller motor at the torque target, variations in the velocity for the drive roller motor; a processor; and a non-transitory computer readable medium storing machine readable instructions that, when executed: cause the feed roller motor velocity and torque determination module to ascertain the velocity and torque for the feed roller motor associated with the feed roller; cause the drive roller motor velocity and torque determination module to ascertain the velocity and torque for the drive roller motor associated with the drive roller; cause the processor to determine whether the torque for the drive roller motor is greater than a torque target; and in response to a determination that the torque for the drive roller motor is greater than the torque target; cause the torque control module to reduce the torque for the drive roller motor to the torque target and maintain the torque for the drive roller motor at the torque target; and cause the velocity control module to allow, during the maintenance of the torque for the drive roller motor at the torque target, variations in the velocity for the drive roller motor. cause the feed roller motor velocity and torque determination module to ascertain the velocity and torque for the feed roller motor associated with the feed roller; cause the drive roller motor velocity and torque determination module to ascertain the velocity and torque for the drive roller motor associated with the drive roller; cause the processor to determine whether the torque for the drive roller motor is greater than a torque target; and in response to a determination that the torque for the drive roller motor is greater than the torque target; cause the torque control module to reduce the torque for the drive roller motor to the torque target and maintain the torque for the drive roller motor at the torque target; and cause the velocity control module to allow, during the maintenance of the torque for the drive roller motor at the torque target, variations in the velocity for the drive roller motor.