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build(firmware): require DCMotorServo 2.0.1 - #118
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Moves the pin from ^2.0.0 to ^2.0.1 in platformio.ini and slice.yaml, so no build can resolve to 2.0.0. On 2.0.0 a long position move could stop past the target and stay there: on the 2026-11-07 bench a -7282 -> 0 move stopped at +48 with no drive for 60 s. 2.0.1 (feastorg/dcmotorservo#30) zeroes the position integral while the drive is saturated; with it, moves of 7282, 16000 and 20725 counts ended within 6 counts (#117). The firmware README's version line and the CHANGELOG say 2.0.1. The CHANGELOG entry links the 11-07 bench record, which lands with #117. Checked: - All 12 gen* envs build against the registry's 2.0.1; gen2_nanoevery is 32791 B flash (32677 B on 2.0.0), the same size as the image benched on 11-07. - Host suite against 2.0.1: 1872 ok, 0 failed.
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build(firmware): require DCMotorServo 2.0.1
Moves the pin from ^2.0.0 to ^2.0.1 in platformio.ini and slice.yaml,
so no build can resolve to 2.0.0. On 2.0.0 a long position move could
stop past the target and stay there: on the 2026-11-07 bench a -7282 ->
0 move stopped at +48 with no drive for 60 s. 2.0.1
(feastorg/dcmotorservo#30) zeroes the position integral while the drive
is saturated; with it, moves of 7282, 16000 and 20725 counts ended
within 6 counts (#117).
The firmware README's version line and the CHANGELOG say 2.0.1. The
CHANGELOG entry links the 11-07 bench record, which lands with #117.
Checked:
gen2_nanoevery is 32791 B flash (32677 B on 2.0.0), the same size as
the image benched on 11-07.