[CameronBrooks11]

Adds the 2026-11-01 bench record, on main at 6a8df02. The board is the gen2 Nano Every, with two E-S Motor 36PG-3429-19-EN gearmotors on M1 and M2.

Passed:

• D2, 60 RPM for 60 s (Closed-loop speed settles at about 70% of the commanded RPM #90): within 5 % in 1.21 s (M1) and 1.01 s (M2) after the brake release. Last-5-s mean 60.7 and 60.1 RPM.
• D2 tail, setpoint 0 for 2 s: spd=0,0 on both. Verifies fix(firmware): require DCMotorServo 1.2.1 so a stopped motor reads 0 #99 / getMeasuredSpeedRPM() keeps the last running speed while the setpoint is 0 dcmotorservo#18.
• D4, holding a shaft at 60 RPM (feat(firmware): latch a stall fault, freeze the speed integral, Ki 0.2 #97): M1_STALL and M2_STALL latched about 1 s after the shaft stopped. SET_* were refused with reason 8, and fclear cleared without restarting anything. The M2 LED went amber, then green after the clear (feat(firmware): show amber on a watchdog trip or stall fault #98).
• D5, 10 RPM for 20 s: no latch on either motor.
• D6, speed mode entered after a full reverse: no negative PWM (Entering closed-loop speed starts from a stale servo target and encoder baseline #62).
• D7, the watchdog trip: LED amber, red with the e-stop, amber after the release, green after the clear (feat(firmware): show amber on a watchdog trip or stall fault #98).

Findings:

• With M1 running at 60 RPM, the board held SCL low. Both slices stopped answering, so the brake command never arrived, and only the e-stop jumper stopped M1. A reset of the DCMT cleared it (The board held SCL low with a motor running, and nothing on the bus answered #101).
• In position mode, an 11-count step on M2 latched M2_STALL: PWM 16 did not turn the shaft. A 100-count step was fine (A position step just outside the deadband latches a stall #102).
• After grips of 0.4 s or less, M2's peak 1 s mean speed reached 66.8 and 67.4 RPM (M1 64.4). Closed-loop speed overshoots the target after a stall is released #89 is improved but not fixed (figures on Closed-loop speed overshoots the target after a stall is released #89).

The record also notes counts per revolution: driven flag checks agree with the firmware's 798, while turning the shaft by hand gave 846 to 861. The datasheet gives 912 (#103).