$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B ~/dcmt-bench/i2c_raw.py 0x00; \$B \$S version; \$B \$S caps; \$B \$S state; \$B \$S wdog"
op=0x00 #0 02 00 05 42 06 02 00 00 05 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff | len=9 crc_calc=0x05 crc_rx=0x05 OK
op=0x00 #1 02 00 05 42 06 02 00 00 05 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff | len=9 crc_calc=0x05 crc_rx=0x05 OK
op=0x00 #2 02 00 05 42 06 02 00 00 05 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff | len=9 crc_calc=0x05 crc_rx=0x05 OK
op=0x00 #3 02 00 05 42 06 02 00 00 05 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff | len=9 crc_calc=0x05 crc_rx=0x05 OK
op=0x00 #4 02 00 05 42 06 02 00 00 05 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff | len=9 crc_calc=0x05 crc_rx=0x05 OK
23:05:58.490 Version(crumbs_version=1602, major=2, minor=0, patch=0)
23:05:58.807 caps 0102f7010000
23:05:59.106 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=0,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:05:59.403 wdog [armed][timeout_ms][tripped][trips] 0000000000

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S open 80 0; sleep 1; \$B \$S state; sleep 1; \$B \$S state; \$B \$S brake 1 0; sleep 0.5; \$B \$S state; \$B \$S brake 0 0; \$B \$S open 0 0; sleep 0.3; \$B \$S state"
23:06:34.315 sent 0x01 50000000 -> ack Ack(counter=1, opcode=1, status=1, reason=0)
23:06:35.618 state mode=0 m1_pwm=80 m2_pwm=0 sp=-32768,-32768 pos=2236,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:06:36.918 state mode=0 m1_pwm=80 m2_pwm=0 sp=-32768,-32768 pos=4565,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:06:37.227 sent 0x02 0100 -> ack Ack(counter=2, opcode=2, status=1, reason=0)
23:06:38.027 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=5147,0 spd=-32768,-32768 brakes=0b01 estop=0 estop_count=0
23:06:38.336 sent 0x02 0000 -> ack Ack(counter=3, opcode=2, status=1, reason=0)
23:06:38.645 sent 0x01 00000000 -> ack Ack(counter=4, opcode=1, status=1, reason=0)
23:06:39.291 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=5147,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S state; \$B \$S sp 5547 0; \$B \$S mode 1; for i in 1 2 3 4 5 6 7 8; do \$B \$S state; done; \$B \$S brake 1 1; sleep 0.3; \$B \$S state"
23:07:09.888 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=5147,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:07:10.198 sent 0x04 ab150000 -> ack Ack(counter=5, opcode=4, status=1, reason=0)
23:07:10.506 sent 0x03 01 -> ack Ack(counter=6, opcode=3, status=1, reason=0)
23:07:10.806 state mode=1 m1_pwm=28 m2_pwm=0 sp=5547,0 pos=5429,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:07:11.105 state mode=1 m1_pwm=19 m2_pwm=0 sp=5547,0 pos=5520,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:07:11.403 state mode=1 m1_pwm=0 m2_pwm=0 sp=5547,0 pos=5538,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:07:11.703 state mode=1 m1_pwm=0 m2_pwm=0 sp=5547,0 pos=5538,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:07:11.002 state mode=1 m1_pwm=0 m2_pwm=0 sp=5547,0 pos=5538,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:07:12.300 state mode=1 m1_pwm=0 m2_pwm=0 sp=5547,0 pos=5538,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:07:12.599 state mode=1 m1_pwm=0 m2_pwm=0 sp=5547,0 pos=5538,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:07:12.897 state mode=1 m1_pwm=0 m2_pwm=0 sp=5547,0 pos=5538,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:07:13.206 sent 0x02 0101 -> ack Ack(counter=7, opcode=2, status=1, reason=0)
23:07:13.807 state mode=1 m1_pwm=0 m2_pwm=0 sp=5547,0 pos=5538,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=0

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S mode 0; \$B \$S brake 0 0; \$B \$S open 60 0; \$B \$S wd 500; sleep 1.2; \$B \$S wdog; \$B \$S state; \$B \$S open 60 0; sleep 0.3; \$B \$S state; \$B \$S clear; \$B \$S brake 0 0; \$B \$S open 0 0; \$B \$S wdog; \$B \$S state"
23:07:51.309 sent 0x03 00 -> ack Ack(counter=8, opcode=3, status=1, reason=0)
23:07:51.618 sent 0x02 0000 -> ack Ack(counter=9, opcode=2, status=1, reason=0)
23:07:51.929 sent 0x01 3c000000 -> ack Ack(counter=10, opcode=1, status=1, reason=0)
23:07:52.239 sent 0x7E f401 -> ack Ack(counter=11, opcode=126, status=1, reason=0)
23:07:53.740 wdog [armed][timeout_ms][tripped][trips] 01f4010101
23:07:54.038 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=6536,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=0
23:07:54.347 sent 0x01 3c000000 -> ack Ack(counter=12, opcode=1, status=2, reason=2)
23:07:54.948 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=6536,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=0
23:07:55.256 sent 0x7C  -> ack Ack(counter=13, opcode=124, status=1, reason=0)
23:07:55.567 sent 0x02 0000 -> ack Ack(counter=14, opcode=2, status=1, reason=0)
23:07:55.879 sent 0x01 00000000 -> ack Ack(counter=15, opcode=1, status=1, reason=0)
23:07:56.194 wdog [armed][timeout_ms][tripped][trips] 01f4010001
23:07:56.500 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=6536,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S wd 0; \$B \$S clear; \$B \$S brake 0 0; \$B \$S open 60 0; for i in 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40; do \$B \$S state; done; \$B \$S open 60 0; sleep 1; \$B \$S state; \$B \$S brake 1 1; \$B \$S open 0 0; \$B \$S state"
23:10:28.610 sent 0x7E 0000 -> ack Ack(counter=16, opcode=126, status=1, reason=0)
23:10:28.921 sent 0x7C  -> ack Ack(counter=17, opcode=124, status=1, reason=0)
23:10:29.230 sent 0x02 0000 -> ack Ack(counter=18, opcode=2, status=1, reason=0)
23:10:29.539 sent 0x01 3c000000 -> ack Ack(counter=19, opcode=1, status=1, reason=0)
23:10:29.839 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=6876,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:30.138 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=7253,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:30.436 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=7630,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:30.735 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=8009,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:31.034 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=8393,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:31.332 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=8778,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:31.631 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=9165,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:31.932 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=9554,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:32.230 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=9943,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:32.529 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=10332,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:32.829 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=10721,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:33.127 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=11110,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:33.452 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=11532,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:33.751 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=11923,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:34.050 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=12312,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:34.349 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=12701,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:10:34.648 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:34.948 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:35.247 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:35.547 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:35.847 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:36.147 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:36.446 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:36.745 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:37.044 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:37.343 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:37.642 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:37.941 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:38.240 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:38.564 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:38.863 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:39.161 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:39.460 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:39.758 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:40.055 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:40.354 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:40.655 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:40.955 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:41.254 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:41.553 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:41.865 sent 0x01 3c000000 -> ack Ack(counter=20, opcode=1, status=2, reason=3)
23:10:43.165 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
23:10:43.484 sent 0x02 0101 -> ack Ack(counter=21, opcode=2, status=1, reason=0)
23:10:43.802 sent 0x01 00000000 -> ack Ack(counter=22, opcode=1, status=2, reason=3)
23:10:44.107 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1

$ "~/dcmt-bench/venv/bin/python ~/dcmt-bench/dcmt_bench.py state"
23:11:08.895 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=12921,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=1

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B ~/dcmt-bench/i2c_raw.py 0x00; \$B \$S version; \$B \$S caps; \$B \$S state; \$B \$S wdog"
op=0x00 #0 02 00 05 42 06 02 00 00 05 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff | len=9 crc_calc=0x05 crc_rx=0x05 OK
op=0x00 #1 02 00 05 42 06 02 00 00 05 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff | len=9 crc_calc=0x05 crc_rx=0x05 OK
op=0x00 #2 02 00 05 42 06 02 00 00 05 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff | len=9 crc_calc=0x05 crc_rx=0x05 OK
op=0x00 #3 02 00 05 42 06 02 00 00 05 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff | len=9 crc_calc=0x05 crc_rx=0x05 OK
op=0x00 #4 02 00 05 42 06 02 00 00 05 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff | len=9 crc_calc=0x05 crc_rx=0x05 OK
23:14:41.251 Version(crumbs_version=1602, major=2, minor=0, patch=0)
23:14:41.565 caps 0103ff010000
23:14:41.863 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=0,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:14:42.161 wdog [armed][timeout_ms][tripped][trips] 0000000000

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S brake 0 0; \$B \$S sp 30 0; \$B \$S mode 2; for i in 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20; do \$B \$S state; done; \$B \$S brake 1 1; \$B \$S mode 0; \$B \$S state"
23:15:46.842 sent 0x02 0000 -> ack Ack(counter=1, opcode=2, status=1, reason=0)
23:15:47.150 sent 0x04 1e000000 -> ack Ack(counter=2, opcode=4, status=1, reason=0)
23:15:47.459 sent 0x03 02 -> ack Ack(counter=3, opcode=3, status=1, reason=0)
23:15:47.757 state mode=2 m1_pwm=18 m2_pwm=0 sp=30,0 pos=53,0 spd=15,0 brakes=0b00 estop=0 estop_count=2
23:15:48.056 state mode=2 m1_pwm=21 m2_pwm=0 sp=30,0 pos=129,0 spd=0,0 brakes=0b00 estop=0 estop_count=2
23:15:48.354 state mode=2 m1_pwm=27 m2_pwm=0 sp=30,0 pos=211,0 spd=30,0 brakes=0b00 estop=0 estop_count=2
23:15:48.653 state mode=2 m1_pwm=26 m2_pwm=0 sp=30,0 pos=299,0 spd=30,0 brakes=0b00 estop=0 estop_count=2
23:15:48.952 state mode=2 m1_pwm=26 m2_pwm=0 sp=30,0 pos=386,0 spd=15,0 brakes=0b00 estop=0 estop_count=2
23:15:49.251 state mode=2 m1_pwm=22 m2_pwm=0 sp=30,0 pos=473,0 spd=30,0 brakes=0b00 estop=0 estop_count=2
23:15:49.549 state mode=2 m1_pwm=27 m2_pwm=0 sp=30,0 pos=558,0 spd=15,0 brakes=0b00 estop=0 estop_count=2
23:15:49.848 state mode=2 m1_pwm=28 m2_pwm=0 sp=30,0 pos=643,0 spd=15,0 brakes=0b00 estop=0 estop_count=2
23:15:50.146 state mode=2 m1_pwm=24 m2_pwm=0 sp=30,0 pos=735,0 spd=30,0 brakes=0b00 estop=0 estop_count=2
23:15:50.444 state mode=2 m1_pwm=21 m2_pwm=0 sp=30,0 pos=817,0 spd=15,0 brakes=0b00 estop=0 estop_count=2
23:15:50.743 state mode=2 m1_pwm=20 m2_pwm=0 sp=30,0 pos=907,0 spd=30,0 brakes=0b00 estop=0 estop_count=2
23:15:51.041 state mode=2 m1_pwm=25 m2_pwm=0 sp=30,0 pos=991,0 spd=15,0 brakes=0b00 estop=0 estop_count=2
23:15:51.340 state mode=2 m1_pwm=27 m2_pwm=0 sp=30,0 pos=1078,0 spd=15,0 brakes=0b00 estop=0 estop_count=2
23:15:51.664 state mode=2 m1_pwm=21 m2_pwm=0 sp=30,0 pos=1164,0 spd=15,0 brakes=0b00 estop=0 estop_count=2
23:15:51.964 state mode=2 m1_pwm=20 m2_pwm=0 sp=30,0 pos=1253,0 spd=15,0 brakes=0b00 estop=0 estop_count=2
23:15:52.263 state mode=2 m1_pwm=21 m2_pwm=0 sp=30,0 pos=1337,0 spd=15,0 brakes=0b00 estop=0 estop_count=2
23:15:52.561 state mode=2 m1_pwm=21 m2_pwm=0 sp=30,0 pos=1426,0 spd=30,0 brakes=0b00 estop=0 estop_count=2
23:15:52.860 state mode=2 m1_pwm=24 m2_pwm=0 sp=30,0 pos=1516,0 spd=30,0 brakes=0b00 estop=0 estop_count=2
23:15:53.160 state mode=2 m1_pwm=24 m2_pwm=0 sp=30,0 pos=1595,0 spd=15,0 brakes=0b00 estop=0 estop_count=2
23:15:53.459 state mode=2 m1_pwm=21 m2_pwm=0 sp=30,0 pos=1688,0 spd=15,0 brakes=0b00 estop=0 estop_count=2
23:15:53.769 sent 0x02 0101 -> ack Ack(counter=4, opcode=2, status=1, reason=0)
23:15:54.080 sent 0x03 00 -> ack Ack(counter=5, opcode=3, status=1, reason=0)
23:15:54.378 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=1777,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=2

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S version; \$B \$S caps; \$B \$S state; \$B \$S wdog"
23:19:05.183 Version(crumbs_version=1602, major=2, minor=0, patch=0)
23:19:05.499 caps 0103ff010000
23:19:05.796 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=0,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:19:06.095 wdog [armed][timeout_ms][tripped][trips] 0000000000

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S brake 0 0; \$B \$S sp 5 0; \$B \$S mode 2; for i in 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17; do \$B \$S state; done; \$B \$S sp 0 0; for i in 1 2 3 4 5 6 7; do \$B \$S state; done; \$B \$S sp 10 0; for i in 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50; do \$B \$S state; done; \$B \$S brake 1 1; \$B \$S mode 0; \$B \$S state"
23:19:25.156 sent 0x02 0000 -> ack Ack(counter=1, opcode=2, status=1, reason=0)
23:19:25.466 sent 0x04 05000000 -> ack Ack(counter=2, opcode=4, status=1, reason=0)
23:19:25.775 sent 0x03 02 -> ack Ack(counter=3, opcode=3, status=1, reason=0)
23:19:26.075 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:26.374 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:26.673 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:26.970 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:27.268 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:27.565 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:27.865 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:28.163 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:28.459 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:28.758 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:29.056 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:29.355 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:29.654 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:29.956 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:30.267 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:30.566 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:30.866 state mode=2 m1_pwm=0 m2_pwm=0 sp=5,0 pos=1,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:31.176 sent 0x04 00000000 -> ack Ack(counter=4, opcode=4, status=1, reason=0)
23:19:31.473 state mode=2 m1_pwm=0 m2_pwm=0 sp=0,0 pos=8,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:31.774 state mode=2 m1_pwm=0 m2_pwm=0 sp=0,0 pos=8,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:32.072 state mode=2 m1_pwm=0 m2_pwm=0 sp=0,0 pos=8,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:32.370 state mode=2 m1_pwm=0 m2_pwm=0 sp=0,0 pos=8,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:32.669 state mode=2 m1_pwm=0 m2_pwm=0 sp=0,0 pos=8,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:32.968 state mode=2 m1_pwm=0 m2_pwm=0 sp=0,0 pos=8,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:33.267 state mode=2 m1_pwm=0 m2_pwm=0 sp=0,0 pos=8,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:33.577 sent 0x04 0a000000 -> ack Ack(counter=5, opcode=4, status=1, reason=0)
23:19:33.875 state mode=2 m1_pwm=23 m2_pwm=0 sp=10,0 pos=12,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:34.175 state mode=2 m1_pwm=22 m2_pwm=0 sp=10,0 pos=43,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:34.474 state mode=2 m1_pwm=23 m2_pwm=0 sp=10,0 pos=67,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:34.774 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=102,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:35.083 state mode=2 m1_pwm=20 m2_pwm=0 sp=10,0 pos=136,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:35.387 state mode=2 m1_pwm=23 m2_pwm=0 sp=10,0 pos=156,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:35.688 state mode=2 m1_pwm=17 m2_pwm=0 sp=10,0 pos=191,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:35.989 state mode=2 m1_pwm=22 m2_pwm=0 sp=10,0 pos=220,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:36.288 state mode=2 m1_pwm=17 m2_pwm=0 sp=10,0 pos=251,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:36.588 state mode=2 m1_pwm=18 m2_pwm=0 sp=10,0 pos=279,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:36.888 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=309,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:37.188 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=339,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:37.486 state mode=2 m1_pwm=15 m2_pwm=0 sp=10,0 pos=368,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:37.786 state mode=2 m1_pwm=17 m2_pwm=0 sp=10,0 pos=399,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:38.084 state mode=2 m1_pwm=0 m2_pwm=0 sp=10,0 pos=431,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:38.382 state mode=2 m1_pwm=17 m2_pwm=0 sp=10,0 pos=454,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:38.681 state mode=2 m1_pwm=20 m2_pwm=0 sp=10,0 pos=486,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:38.981 state mode=2 m1_pwm=0 m2_pwm=0 sp=10,0 pos=514,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:39.279 state mode=2 m1_pwm=18 m2_pwm=0 sp=10,0 pos=543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:39.579 state mode=2 m1_pwm=16 m2_pwm=0 sp=10,0 pos=579,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:39.879 state mode=2 m1_pwm=16 m2_pwm=0 sp=10,0 pos=608,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:40.188 state mode=2 m1_pwm=17 m2_pwm=0 sp=10,0 pos=635,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:40.491 state mode=2 m1_pwm=17 m2_pwm=0 sp=10,0 pos=663,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:40.791 state mode=2 m1_pwm=16 m2_pwm=0 sp=10,0 pos=698,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:41.088 state mode=2 m1_pwm=0 m2_pwm=0 sp=10,0 pos=719,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:41.387 state mode=2 m1_pwm=23 m2_pwm=0 sp=10,0 pos=751,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:41.685 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=786,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:41.984 state mode=2 m1_pwm=20 m2_pwm=0 sp=10,0 pos=815,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:42.281 state mode=2 m1_pwm=16 m2_pwm=0 sp=10,0 pos=844,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:42.580 state mode=2 m1_pwm=15 m2_pwm=0 sp=10,0 pos=876,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:42.878 state mode=2 m1_pwm=-15 m2_pwm=0 sp=10,0 pos=903,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:43.176 state mode=2 m1_pwm=18 m2_pwm=0 sp=10,0 pos=927,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:43.476 state mode=2 m1_pwm=16 m2_pwm=0 sp=10,0 pos=965,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:43.774 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=991,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:44.072 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=1022,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:44.372 state mode=2 m1_pwm=20 m2_pwm=0 sp=10,0 pos=1051,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:44.671 state mode=2 m1_pwm=15 m2_pwm=0 sp=10,0 pos=1084,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:44.970 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=1111,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:45.277 state mode=2 m1_pwm=22 m2_pwm=0 sp=10,0 pos=1135,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:45.584 state mode=2 m1_pwm=0 m2_pwm=0 sp=10,0 pos=1174,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:45.881 state mode=2 m1_pwm=20 m2_pwm=0 sp=10,0 pos=1202,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:46.180 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=1229,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:46.479 state mode=2 m1_pwm=22 m2_pwm=0 sp=10,0 pos=1257,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:46.778 state mode=2 m1_pwm=16 m2_pwm=0 sp=10,0 pos=1291,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:47.076 state mode=2 m1_pwm=15 m2_pwm=0 sp=10,0 pos=1322,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:47.376 state mode=2 m1_pwm=16 m2_pwm=0 sp=10,0 pos=1350,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:47.675 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=1379,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:47.974 state mode=2 m1_pwm=17 m2_pwm=0 sp=10,0 pos=1404,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:48.274 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=1438,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:19:48.572 state mode=2 m1_pwm=15 m2_pwm=0 sp=10,0 pos=1467,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:19:48.883 sent 0x02 0101 -> ack Ack(counter=6, opcode=2, status=1, reason=0)
23:19:49.194 sent 0x03 00 -> ack Ack(counter=7, opcode=3, status=1, reason=0)
23:19:49.491 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=1495,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=0

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S brake 0 0; \$B \$S sp 60 0; \$B \$S mode 2; for i in 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50; do \$B \$S state; done; \$B \$S brake 1 1; \$B \$S mode 0; \$B \$S state"
23:20:56.234 sent 0x02 0000 -> ack Ack(counter=8, opcode=2, status=1, reason=0)
23:20:56.545 sent 0x04 3c000000 -> ack Ack(counter=9, opcode=4, status=1, reason=0)
23:20:56.856 sent 0x03 02 -> ack Ack(counter=10, opcode=3, status=1, reason=0)
23:20:57.154 state mode=2 m1_pwm=29 m2_pwm=0 sp=60,0 pos=1602,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:20:57.451 state mode=2 m1_pwm=31 m2_pwm=0 sp=60,0 pos=1763,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:20:57.750 state mode=2 m1_pwm=31 m2_pwm=0 sp=60,0 pos=1927,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:20:58.051 state mode=2 m1_pwm=32 m2_pwm=0 sp=60,0 pos=2091,0 spd=37,0 brakes=0b00 estop=0 estop_count=0
23:20:58.351 state mode=2 m1_pwm=35 m2_pwm=0 sp=60,0 pos=2261,0 spd=30,0 brakes=0b00 estop=0 estop_count=0
23:20:58.650 state mode=2 m1_pwm=34 m2_pwm=0 sp=60,0 pos=2421,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:20:58.948 state mode=2 m1_pwm=27 m2_pwm=0 sp=60,0 pos=2593,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:20:59.247 state mode=2 m1_pwm=34 m2_pwm=0 sp=60,0 pos=2759,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:20:59.547 state mode=2 m1_pwm=37 m2_pwm=0 sp=60,0 pos=2931,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:20:59.847 state mode=2 m1_pwm=34 m2_pwm=0 sp=60,0 pos=3103,0 spd=30,0 brakes=0b00 estop=0 estop_count=0
23:21:00.147 state mode=2 m1_pwm=37 m2_pwm=0 sp=60,0 pos=3275,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:21:00.445 state mode=2 m1_pwm=34 m2_pwm=0 sp=60,0 pos=3443,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:21:00.745 state mode=2 m1_pwm=83 m2_pwm=0 sp=60,0 pos=3541,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:21:01.044 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:01.364 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:01.661 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:01.960 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:02.275 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:02.574 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:02.874 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:03.172 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:03.470 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:03.769 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:04.070 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:04.368 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:04.667 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:04.966 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:05.263 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:05.561 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:05.860 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:06.159 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:06.477 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:06.774 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:07.072 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:07.370 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:07.668 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:07.966 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:08.265 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:08.563 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3543,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:08.861 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3546,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:09.160 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3549,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:09.458 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3549,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:09.756 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3549,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:10.054 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3549,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:10.354 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3549,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:10.653 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3549,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:10.953 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3549,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:21:11.253 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=3815,0 spd=240,0 brakes=0b00 estop=0 estop_count=0
23:21:11.573 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=4937,0 spd=270,0 brakes=0b00 estop=0 estop_count=0
23:21:11.872 state mode=2 m1_pwm=150 m2_pwm=0 sp=60,0 pos=6011,0 spd=285,0 brakes=0b00 estop=0 estop_count=0
23:21:12.183 sent 0x02 0101 -> ack Ack(counter=11, opcode=2, status=1, reason=0)
23:21:12.493 sent 0x03 00 -> ack Ack(counter=12, opcode=3, status=1, reason=0)
23:21:12.791 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=7179,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=0

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S version; \$B \$S state"
23:23:34.234 Version(crumbs_version=1602, major=2, minor=0, patch=0)
23:23:34.548 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=0,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S brake 0 0; \$B \$S sp 60 0; \$B \$S mode 2; for i in 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66; do \$B \$S state; done; \$B \$S brake 1 1; \$B \$S mode 0; \$B \$S state"
23:24:00.240 sent 0x02 0000 -> ack Ack(counter=1, opcode=2, status=1, reason=0)
23:24:00.549 sent 0x04 3c000000 -> ack Ack(counter=2, opcode=4, status=1, reason=0)
23:24:00.860 sent 0x03 02 -> ack Ack(counter=3, opcode=3, status=1, reason=0)
23:24:01.156 state mode=2 m1_pwm=31 m2_pwm=0 sp=60,0 pos=102,0 spd=30,0 brakes=0b00 estop=0 estop_count=0
23:24:01.453 state mode=2 m1_pwm=37 m2_pwm=0 sp=60,0 pos=263,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:01.752 state mode=2 m1_pwm=33 m2_pwm=0 sp=60,0 pos=439,0 spd=30,0 brakes=0b00 estop=0 estop_count=0
23:24:02.050 state mode=2 m1_pwm=33 m2_pwm=0 sp=60,0 pos=596,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:02.348 state mode=2 m1_pwm=34 m2_pwm=0 sp=60,0 pos=763,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:02.645 state mode=2 m1_pwm=26 m2_pwm=0 sp=60,0 pos=927,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:02.943 state mode=2 m1_pwm=32 m2_pwm=0 sp=60,0 pos=1096,0 spd=30,0 brakes=0b00 estop=0 estop_count=0
23:24:03.241 state mode=2 m1_pwm=31 m2_pwm=0 sp=60,0 pos=1267,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:03.539 state mode=2 m1_pwm=30 m2_pwm=0 sp=60,0 pos=1436,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:03.837 state mode=2 m1_pwm=32 m2_pwm=0 sp=60,0 pos=1601,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:04.135 state mode=2 m1_pwm=35 m2_pwm=0 sp=60,0 pos=1774,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:04.433 state mode=2 m1_pwm=38 m2_pwm=0 sp=60,0 pos=1941,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:04.731 state mode=2 m1_pwm=35 m2_pwm=0 sp=60,0 pos=2114,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:05.030 state mode=2 m1_pwm=31 m2_pwm=0 sp=60,0 pos=2288,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:05.341 state mode=2 m1_pwm=62 m2_pwm=0 sp=60,0 pos=2368,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:24:05.640 state mode=2 m1_pwm=66 m2_pwm=0 sp=60,0 pos=2380,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:24:05.938 state mode=2 m1_pwm=67 m2_pwm=0 sp=60,0 pos=2386,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:24:06.237 state mode=2 m1_pwm=68 m2_pwm=0 sp=60,0 pos=2388,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:24:06.536 state mode=2 m1_pwm=69 m2_pwm=0 sp=60,0 pos=2392,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:24:06.835 state mode=2 m1_pwm=70 m2_pwm=0 sp=60,0 pos=2394,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:24:07.133 state mode=2 m1_pwm=71 m2_pwm=0 sp=60,0 pos=2396,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:24:07.433 state mode=2 m1_pwm=72 m2_pwm=0 sp=60,0 pos=2397,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:24:07.732 state mode=2 m1_pwm=73 m2_pwm=0 sp=60,0 pos=2398,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:24:08.030 state mode=2 m1_pwm=74 m2_pwm=0 sp=60,0 pos=2399,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:24:08.330 state mode=2 m1_pwm=75 m2_pwm=0 sp=60,0 pos=2400,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:24:08.628 state mode=2 m1_pwm=76 m2_pwm=0 sp=60,0 pos=2401,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:24:08.927 state mode=2 m1_pwm=77 m2_pwm=0 sp=60,0 pos=2402,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:24:09.226 state mode=2 m1_pwm=77 m2_pwm=0 sp=60,0 pos=2404,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:24:09.525 state mode=2 m1_pwm=40 m2_pwm=0 sp=60,0 pos=2534,0 spd=75,0 brakes=0b00 estop=0 estop_count=0
23:24:09.824 state mode=2 m1_pwm=44 m2_pwm=0 sp=60,0 pos=2776,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:10.125 state mode=2 m1_pwm=39 m2_pwm=0 sp=60,0 pos=3000,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:10.442 state mode=2 m1_pwm=41 m2_pwm=0 sp=60,0 pos=3244,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:10.741 state mode=2 m1_pwm=43 m2_pwm=0 sp=60,0 pos=3464,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:11.039 state mode=2 m1_pwm=38 m2_pwm=0 sp=60,0 pos=3687,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:11.337 state mode=2 m1_pwm=38 m2_pwm=0 sp=60,0 pos=3915,0 spd=75,0 brakes=0b00 estop=0 estop_count=0
23:24:11.636 state mode=2 m1_pwm=39 m2_pwm=0 sp=60,0 pos=4135,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:11.935 state mode=2 m1_pwm=37 m2_pwm=0 sp=60,0 pos=4363,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:12.234 state mode=2 m1_pwm=33 m2_pwm=0 sp=60,0 pos=4586,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:12.531 state mode=2 m1_pwm=38 m2_pwm=0 sp=60,0 pos=4808,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:12.830 state mode=2 m1_pwm=35 m2_pwm=0 sp=60,0 pos=5035,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:13.128 state mode=2 m1_pwm=38 m2_pwm=0 sp=60,0 pos=5256,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:13.427 state mode=2 m1_pwm=37 m2_pwm=0 sp=60,0 pos=5483,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:13.725 state mode=2 m1_pwm=35 m2_pwm=0 sp=60,0 pos=5710,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:14.022 state mode=2 m1_pwm=36 m2_pwm=0 sp=60,0 pos=5934,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:14.320 state mode=2 m1_pwm=35 m2_pwm=0 sp=60,0 pos=6156,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:14.617 state mode=2 m1_pwm=38 m2_pwm=0 sp=60,0 pos=6375,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:14.916 state mode=2 m1_pwm=34 m2_pwm=0 sp=60,0 pos=6572,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:15.213 state mode=2 m1_pwm=37 m2_pwm=0 sp=60,0 pos=6778,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:15.534 state mode=2 m1_pwm=37 m2_pwm=0 sp=60,0 pos=7020,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:15.834 state mode=2 m1_pwm=36 m2_pwm=0 sp=60,0 pos=7249,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:16.132 state mode=2 m1_pwm=38 m2_pwm=0 sp=60,0 pos=7471,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:16.431 state mode=2 m1_pwm=36 m2_pwm=0 sp=60,0 pos=7702,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:16.728 state mode=2 m1_pwm=41 m2_pwm=0 sp=60,0 pos=7927,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:17.028 state mode=2 m1_pwm=38 m2_pwm=0 sp=60,0 pos=8148,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:17.325 state mode=2 m1_pwm=36 m2_pwm=0 sp=60,0 pos=8375,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:17.624 state mode=2 m1_pwm=42 m2_pwm=0 sp=60,0 pos=8600,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:17.921 state mode=2 m1_pwm=38 m2_pwm=0 sp=60,0 pos=8824,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:18.219 state mode=2 m1_pwm=37 m2_pwm=0 sp=60,0 pos=9052,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:18.519 state mode=2 m1_pwm=36 m2_pwm=0 sp=60,0 pos=9277,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
23:24:18.818 state mode=2 m1_pwm=38 m2_pwm=0 sp=60,0 pos=9500,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:19.116 state mode=2 m1_pwm=36 m2_pwm=0 sp=60,0 pos=9730,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:19.414 state mode=2 m1_pwm=42 m2_pwm=0 sp=60,0 pos=9955,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:19.712 state mode=2 m1_pwm=38 m2_pwm=0 sp=60,0 pos=10178,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:20.011 state mode=2 m1_pwm=38 m2_pwm=0 sp=60,0 pos=10404,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:20.310 state mode=2 m1_pwm=35 m2_pwm=0 sp=60,0 pos=10631,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:20.629 state mode=2 m1_pwm=32 m2_pwm=0 sp=60,0 pos=10874,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
23:24:20.939 sent 0x02 0101 -> ack Ack(counter=4, opcode=2, status=1, reason=0)
23:24:21.247 sent 0x03 00 -> ack Ack(counter=5, opcode=3, status=1, reason=0)
23:24:21.545 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=11116,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=0

$ "~/dcmt-bench/venv/bin/python ~/dcmt-bench/dcmt_bench.py state"
23:30:21.610 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=0,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S mode 0; \$B \$S brake 0 0; \$B \$S open 120 0; \$B \$S state; sleep 1.5; \$B \$S state; \$B \$S open 0 0; \$B \$S sp 10 0; \$B \$S mode 2; for i in 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20; do \$B \$S state; done; \$B \$S brake 1 1; \$B \$S mode 0; \$B \$S state"
23:31:10.235 sent 0x03 00 -> ack Ack(counter=1, opcode=3, status=1, reason=0)
23:31:10.544 sent 0x02 0000 -> ack Ack(counter=2, opcode=2, status=1, reason=0)
23:31:10.853 sent 0x01 78000000 -> ack Ack(counter=3, opcode=1, status=1, reason=0)
23:31:11.150 state mode=0 m1_pwm=120 m2_pwm=0 sp=-32768,-32768 pos=784,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:31:12.968 state mode=0 m1_pwm=120 m2_pwm=0 sp=-32768,-32768 pos=6041,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:31:13.277 sent 0x01 00000000 -> ack Ack(counter=4, opcode=1, status=1, reason=0)
23:31:13.587 sent 0x04 0a000000 -> ack Ack(counter=5, opcode=4, status=1, reason=0)
23:31:13.897 sent 0x03 02 -> ack Ack(counter=6, opcode=3, status=1, reason=0)
23:31:14.197 state mode=2 m1_pwm=20 m2_pwm=0 sp=10,0 pos=6986,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:14.495 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=7012,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:14.795 state mode=2 m1_pwm=0 m2_pwm=0 sp=10,0 pos=7040,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:15.114 state mode=2 m1_pwm=22 m2_pwm=0 sp=10,0 pos=7067,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:31:15.421 state mode=2 m1_pwm=0 m2_pwm=0 sp=10,0 pos=7098,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:15.721 state mode=2 m1_pwm=0 m2_pwm=0 sp=10,0 pos=7128,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:16.019 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=7151,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:31:16.319 state mode=2 m1_pwm=16 m2_pwm=0 sp=10,0 pos=7178,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:31:16.617 state mode=2 m1_pwm=0 m2_pwm=0 sp=10,0 pos=7208,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:16.917 state mode=2 m1_pwm=0 m2_pwm=0 sp=10,0 pos=7240,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:17.216 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=7266,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:31:17.514 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=7294,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:31:17.812 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=7323,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:31:18.111 state mode=2 m1_pwm=22 m2_pwm=0 sp=10,0 pos=7349,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:18.411 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=7383,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:18.711 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=7410,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:19.010 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=7439,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:19.308 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=7467,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:19.608 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=7495,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:19.907 state mode=2 m1_pwm=0 m2_pwm=0 sp=10,0 pos=7526,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:31:20.229 sent 0x02 0101 -> ack Ack(counter=7, opcode=2, status=1, reason=0)
23:31:20.541 sent 0x03 00 -> ack Ack(counter=8, opcode=3, status=1, reason=0)
23:31:20.841 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=7561,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=0

$ "ls /dev/ttyACM* /dev/ttyUSB* 2>/dev/null; B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S prep; \$B \$S ser READ; \$B \$S state"
/dev/ttyACM0
23:32:05.163 /dev/ttyACM0: hupcl off
23:32:05.604 > READ
23:32:06.107 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=0,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S ser READ READ; \$B \$S state"
23:32:15.296 > READ
23:32:15.496 < Mode:OPEN, M1PWM:0, M2PWM:0, M1POS_SP:0, M2POS_SP:0, M1POS:0, M2POS:0, M1SPD_SP:0, M2SPD_SP:0, M1SPD:0, M2SPD:0, B1:0, B2:0, ESTOP:0, WDOG:off, WDTRIP:0/0
23:32:15.646 > READ
23:32:15.846 < Mode:OPEN, M1PWM:0, M2PWM:0, M1POS_SP:0, M2POS_SP:0, M1POS:0, M2POS:0, M1SPD_SP:0, M2SPD_SP:0, M1SPD:0, M2SPD:0, B1:0, B2:0, ESTOP:0, WDOG:off, WDTRIP:0/0
23:32:16.148 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=0,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S brake 0 0; \$B \$S ser M1SPEED=10 M1POS=1500 READ; \$B \$S mode 1; \$B \$S mode 2; for i in 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16; do \$B \$S state; done; \$B \$S brake 1 1; \$B \$S mode 0; \$B \$S state"
23:32:36.217 sent 0x02 0000 -> ack Ack(counter=1, opcode=2, status=1, reason=0)
23:32:36.653 > M1SPEED=10
23:32:36.853 < M1SPEED-> 10
23:32:36.004 > M1POS=1500
23:32:37.204 < M1POS-> 1500
23:32:37.354 > READ
23:32:37.554 < Mode:OPEN, M1PWM:0, M2PWM:0, M1POS_SP:1500, M2POS_SP:0, M1POS:0, M2POS:0, M1SPD_SP:10, M2SPD_SP:0, M1SPD:0, M2SPD:0, B1:0, B2:0, ESTOP:0, WDOG:off, WDTRIP:0/0
23:32:37.869 sent 0x03 01 -> ack Ack(counter=2, opcode=3, status=1, reason=0)
23:32:38.180 sent 0x03 02 -> ack Ack(counter=3, opcode=3, status=1, reason=0)
23:32:38.477 state mode=2 m1_pwm=16 m2_pwm=0 sp=10,0 pos=924,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:32:38.776 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=935,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:32:39.074 state mode=2 m1_pwm=24 m2_pwm=0 sp=10,0 pos=957,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:32:39.373 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=994,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:32:39.671 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=1022,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:32:39.969 state mode=2 m1_pwm=19 m2_pwm=0 sp=10,0 pos=1051,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:32:40.267 state mode=2 m1_pwm=15 m2_pwm=0 sp=10,0 pos=1079,0 spd=30,0 brakes=0b00 estop=0 estop_count=0
23:32:40.565 state mode=2 m1_pwm=0 m2_pwm=0 sp=10,0 pos=1110,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:32:40.878 state mode=2 m1_pwm=16 m2_pwm=0 sp=10,0 pos=1138,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:32:41.184 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=1167,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:32:41.482 state mode=2 m1_pwm=20 m2_pwm=0 sp=10,0 pos=1197,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:32:41.781 state mode=2 m1_pwm=0 m2_pwm=0 sp=10,0 pos=1226,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:32:42.080 state mode=2 m1_pwm=15 m2_pwm=0 sp=10,0 pos=1254,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:32:42.377 state mode=2 m1_pwm=0 m2_pwm=0 sp=10,0 pos=1279,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
23:32:42.675 state mode=2 m1_pwm=21 m2_pwm=0 sp=10,0 pos=1309,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:32:42.974 state mode=2 m1_pwm=17 m2_pwm=0 sp=10,0 pos=1335,0 spd=15,0 brakes=0b00 estop=0 estop_count=0
23:32:43.283 sent 0x02 0101 -> ack Ack(counter=4, opcode=2, status=1, reason=0)
23:32:43.593 sent 0x03 00 -> ack Ack(counter=5, opcode=3, status=1, reason=0)
23:32:43.892 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=1365,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=0

$ "~/dcmt-bench/venv/bin/python ~/dcmt-bench/dcmt_bench.py state"
23:35:59.048 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=0,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S brake 0 0; \$B \$S sp 1000 0; \$B \$S mode 1; for i in 1 2 3 4 5 6 7 8 9 10; do \$B \$S state; done"
23:36:17.223 sent 0x02 0000 -> ack Ack(counter=1, opcode=2, status=1, reason=0)
23:36:17.533 sent 0x04 e8030000 -> ack Ack(counter=2, opcode=4, status=1, reason=0)
23:36:17.843 sent 0x03 01 -> ack Ack(counter=3, opcode=3, status=1, reason=0)
23:36:18.142 state mode=1 m1_pwm=52 m2_pwm=0 sp=1000,0 pos=686,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:18.441 state mode=1 m1_pwm=0 m2_pwm=0 sp=1000,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:18.739 state mode=1 m1_pwm=0 m2_pwm=0 sp=1000,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:19.036 state mode=1 m1_pwm=0 m2_pwm=0 sp=1000,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:19.334 state mode=1 m1_pwm=0 m2_pwm=0 sp=1000,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:19.632 state mode=1 m1_pwm=0 m2_pwm=0 sp=1000,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:19.929 state mode=1 m1_pwm=0 m2_pwm=0 sp=1000,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:20.228 state mode=1 m1_pwm=0 m2_pwm=0 sp=1000,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:20.524 state mode=1 m1_pwm=0 m2_pwm=0 sp=1000,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:20.824 state mode=1 m1_pwm=0 m2_pwm=0 sp=1000,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0

$ "B=~/dcmt-bench/venv/bin/python; S=~/dcmt-bench/dcmt_bench.py; \$B \$S sp 941 0; for i in 1 2 3 4 5 6 7 8; do \$B \$S state; done; \$B \$S brake 1 1; \$B \$S mode 0; \$B \$S state"
23:36:28.007 sent 0x04 ad030000 -> ack Ack(counter=4, opcode=4, status=1, reason=0)
23:36:28.305 state mode=1 m1_pwm=0 m2_pwm=0 sp=941,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:28.602 state mode=1 m1_pwm=0 m2_pwm=0 sp=941,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:28.901 state mode=1 m1_pwm=0 m2_pwm=0 sp=941,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:29.201 state mode=1 m1_pwm=0 m2_pwm=0 sp=941,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:29.500 state mode=1 m1_pwm=0 m2_pwm=0 sp=941,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:29.799 state mode=1 m1_pwm=0 m2_pwm=0 sp=941,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:30.098 state mode=1 m1_pwm=0 m2_pwm=0 sp=941,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:30.398 state mode=1 m1_pwm=0 m2_pwm=0 sp=941,0 pos=741,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
23:36:30.710 sent 0x02 0101 -> ack Ack(counter=5, opcode=2, status=1, reason=0)
23:36:31.020 sent 0x03 00 -> ack Ack(counter=6, opcode=3, status=1, reason=0)
23:36:31.319 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=741,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=0

$ "~/dcmt-bench/venv/bin/python ~/dcmt-bench/serlog.py 45"

# B5 serial log
00:33:42.533 pwm,amps_avg32,thermal
00:33:43.038 0,0.045,0
00:33:43.537 0,0.045,0
00:33:44.036 0,0.044,0
00:33:44.536 0,0.045,0
00:33:45.035 0,0.045,0
00:33:45.534 0,0.045,0
00:33:46.034 0,0.046,0
00:33:46.534 0,0.045,0
00:33:47.033 0,0.045,0
00:33:47.532 0,0.046,0
00:33:48.032 0,0.046,0
00:33:48.531 0,0.044,0
00:33:49.030 64,0.335,0
00:33:49.529 64,0.332,0
00:33:50.029 64,0.333,0
00:33:50.529 64,0.345,0
00:33:51.028 64,0.333,0
00:33:51.528 64,0.334,0
00:33:52.027 64,0.336,0
00:33:52.526 64,0.338,0
00:33:53.025 64,0.338,0
00:33:53.525 64,0.339,0
00:33:54.024 64,0.341,0
00:33:54.523 64,0.341,0
00:33:55.023 128,0.459,0
00:33:55.522 128,0.454,0
00:33:56.021 128,0.454,0
00:33:56.520 128,0.443,0
00:33:57.020 128,0.455,0
00:33:57.519 128,0.450,0
00:33:58.018 128,0.444,0
00:33:58.517 128,0.442,0
00:33:59.017 128,0.444,0
00:33:59.516 128,0.457,0
00:34:00.015 128,0.451,0
00:34:00.516 128,0.449,0
00:34:01.015 192,0.394,0
00:34:01.514 192,0.382,0
00:34:02.013 192,0.384,0
00:34:02.513 192,0.386,0
00:34:03.012 192,0.377,0
00:34:03.511 192,0.381,0
00:34:04.011 192,0.385,0
00:34:04.510 192,0.387,0
00:34:05.009 192,0.392,0
00:34:05.508 192,0.400,0
00:34:06.008 192,0.389,0
00:34:06.507 192,0.392,0
00:34:07.006 255,0.334,0
00:34:07.506 255,0.318,0
00:34:08.005 255,0.325,0
00:34:08.504 255,0.330,0
00:34:09.003 255,0.324,0
00:34:09.504 255,0.319,0
00:34:10.003 255,0.320,0
00:34:10.502 255,0.324,0
00:34:11.002 255,0.316,0
00:34:11.501 255,0.307,0
00:34:12.000 255,0.322,0
00:34:12.499 255,0.324,0
00:34:12.500 done, braked