[CameronBrooks11]

Adopts DCMotorServo ^2.0.0 (feastorg/dcmotorservo#26) and bread-crumbs-contracts ^0.13.0 (feastorg/bread-crumbs-contracts#75). The speed loop now sets PWM as feedforward plus a PI trim on the measured speed, instead of a PID moving the position target. Fixes #105, and the encoder default moves to the measured 848 counts per turn (#103).

• Speed gains: SET_PID speed gains (and PIDSPEED=) are Kp in PWM per RPM and Ki in PWM per RPM-second. kd is stored and unused. Defaults are 0.6, 3.0 and 0.
• SET_SPEED_FF: new, behind DCMT_CAP_SPEED_FEEDFORWARD (bit 13), which is advertised only where the speed loop is built. It sets each motor's static PWM, RPM per PWM step and trim bound.
  • The loop applies them as setFeedforward() with kv = rpm_per_pwm × CPR / 60 counts/s per PWM, plus setTrimLimit(). Until one is sent, the loop is a plain PI.
  • A payload that isn't 8 bytes is refused MALFORMED, and a build without the speed loop refuses it NOT_BUILT. It is taken during a hold, as SET_PID is.
• Serial: SPEEDFF=static1,rpp1,trim1,static2,rpp2,trim2, with rpp in RPM per PWM step.
• Removed: setMaxLead(), DCMT_TACHO_MAX_LEAD and the feat(firmware): latch a stall fault, freeze the speed integral, Ki 0.2 #97 Ki freeze while the lead cap clamped. The library's conditional integration replaces them. Stall detection is unchanged.
• Encoder default: MOTOR1_CPR and MOTOR2_CPR are 848, and the README and CHANGELOG say so.

Checks

• Host suite: make -C firmware/test/host gives 1872 ok in 168 runs, 0 failed. main had 1726 ok in 162 runs, and the CPR commit alone failed Entering closed-loop speed starts from a stale servo target and encoder baseline #62 reverse twice.

  • test_speed_ff covers the frame, the serial command, the caps and module major 3 on every env.
  • test_max_lead and test_speed_freeze go with the code they tested.
  • The motor tests configure the model motor's feedforward (static 10, 1.719 RPM per PWM, trim 20) with Kp 0.6 and Ki 3.0. Entering closed-loop speed starts from a stale servo target and encoder baseline #62, Enable DCMotorServo stall detection in closed loop #64, Closed-loop speed overshoots the target after a stall is released #89 and Closed-loop speed settles at about 70% of the commanded RPM #90 pass unchanged.

• Entering closed-loop speed starts from a stale servo target and encoder baseline #62 sweep: reverse entry swept over 550–750 ms in 2 ms steps. 0 of 101 timings drive backwards on both Nano Every envs, against 15 of 101 on DCMotorServo 1.2.1.

• Builds: all 12 envs build with 0 warnings.

  env	Flash before → after	RAM before → after
  gen1_nano	23182 → 23224 B	926 → 926 B
  gen2_nano	23420 → 23462 B	926 → 926 B
  gen1_nanoevery	30247 → 32437 B	1374 → 1571 B
  gen2_nanoevery	30487 → 32677 B	1376 → 1573 B

• Mutations: each was applied with the file hashed before and after, then restored. Each fails a named check:

  • kv without the CPR conversion;
  • the NOT_BUILT refusal dropped;
  • bit 13 advertised on every build;
  • static and trim stored on the wrong motor.

Not checked

Hardware. The bench step is next:

1. Calibrate each motor's feedforward with an open-loop sweep (dcmt_bench.py ffsweep).
2. Validate 10–150 RPM, grips, entry from reverse, and that position mode is unchanged.

BREAKING CHANGE: GET_VERSION reports module major 3, and SET_PID's speed gains are read in PWM units. Speed gains tuned for major-2 firmware don't carry over.