## gen2 Nano Every, 718a41f, env gen2_nanoevery, 2026-10-25

(first queries landed during the boot wait: EIO and one ETIMEDOUT)

$ ssh <controller> 'cd dcmt-bench && for c in version caps state wdog; do venv/bin/python dcmt_bench.py $c 2>&1 | tail -1; done'
22:26:14.428 Version(crumbs_version=1602, major=2, minor=0, patch=0)
22:26:14.746 caps 0103ff070000
22:26:15.047 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
22:26:15.348 wdog [armed][timeout_ms][tripped][trips] 0000000000

$ ssh <controller> 'cd dcmt-bench && B="venv/bin/python dcmt_bench.py" && $B brake 1 1 && $B mode 0 && $B sp 5000 0 && $B mode 2 && $B brake 0 0 && $B watch 3; $B brake 1 1; $B mode 0; $B state'
22:26:43.632 sent 0x02 0101 -> ack Ack(counter=1, opcode=2, status=1, reason=0)
22:26:43.943 sent 0x03 00 -> ack Ack(counter=2, opcode=3, status=1, reason=0)
22:26:44.259 sent 0x04 88130000 -> ack Ack(counter=3, opcode=4, status=1, reason=0)
22:26:44.571 sent 0x03 02 -> ack Ack(counter=4, opcode=3, status=1, reason=0)
22:26:44.886 sent 0x02 0000 -> ack Ack(counter=5, opcode=2, status=1, reason=0)
22:26:45.206 state mode=2 m1_pwm=0 m2_pwm=0 sp=0,0 pos=0,0 spd=0,0 brakes=0b00 estop=0 estop_count=0
22:26:48.249 wdog [armed][timeout_ms][tripped][trips] 0000000000
22:26:48.603 sent 0x02 0101 -> ack Ack(counter=6, opcode=2, status=1, reason=0)
22:26:48.914 sent 0x03 00 -> ack Ack(counter=7, opcode=3, status=1, reason=0)
22:26:49.217 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=0,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=0

$ ssh <controller> 'cd dcmt-bench && B="venv/bin/python dcmt_bench.py" && $B sp5 2 60 0 && $B mode 2 && $B brake 0 0 && for i in 1 2 3 4 5; do sleep 0.7; $B state; done; $B brake 1 1; $B mode 0; $B sp5 3 1 1; $B raw 0x04 010203040506; $B state'
22:27:17.297 sent 0x04 023c000000 -> ack Ack(counter=8, opcode=4, status=1, reason=0)
22:27:17.607 sent 0x03 02 -> ack Ack(counter=9, opcode=3, status=1, reason=0)
22:27:17.919 sent 0x02 0000 -> ack Ack(counter=10, opcode=2, status=1, reason=0)
22:27:18.923 state mode=2 m1_pwm=31 m2_pwm=0 sp=60,0 pos=495,0 spd=30,0 brakes=0b00 estop=0 estop_count=0
22:27:19.926 state mode=2 m1_pwm=32 m2_pwm=0 sp=60,0 pos=1051,0 spd=30,0 brakes=0b00 estop=0 estop_count=0
22:27:20.927 state mode=2 m1_pwm=30 m2_pwm=0 sp=60,0 pos=1621,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
22:27:21.930 state mode=2 m1_pwm=37 m2_pwm=0 sp=60,0 pos=2188,0 spd=45,0 brakes=0b00 estop=0 estop_count=0
22:27:22.948 state mode=2 m1_pwm=36 m2_pwm=0 sp=60,0 pos=2799,0 spd=60,0 brakes=0b00 estop=0 estop_count=0
22:27:23.262 sent 0x02 0101 -> ack Ack(counter=11, opcode=2, status=1, reason=0)
22:27:23.577 sent 0x03 00 -> ack Ack(counter=12, opcode=3, status=1, reason=0)
22:27:23.892 sent 0x04 0301000100 -> ack Ack(counter=13, opcode=4, status=2, reason=4)
22:27:24.207 sent 0x04 010203040506 -> ack Ack(counter=14, opcode=4, status=2, reason=1)
22:27:24.510 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=2997,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=0

(S4: D2 jumpered during the first watch, after M1 had settled near 2000)

$ ssh <controller> 'cd dcmt-bench && B="venv/bin/python dcmt_bench.py" && $B mode 1 && $B sp 2000 0 && $B brake 0 0 && $B watch 4 && $B sp 8000 0 && $B watch 6'
22:27:49.662 sent 0x03 01 -> ack Ack(counter=15, opcode=3, status=1, reason=0)
22:27:49.975 sent 0x04 d0070000 -> ack Ack(counter=16, opcode=4, status=1, reason=0)
22:27:50.288 sent 0x02 0000 -> ack Ack(counter=17, opcode=2, status=1, reason=0)
22:27:50.607 state mode=1 m1_pwm=-50 m2_pwm=0 sp=2000,0 pos=2276,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
22:27:50.842 state mode=1 m1_pwm=-25 m2_pwm=0 sp=2000,0 pos=2082,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
22:27:51.076 state mode=1 m1_pwm=0 m2_pwm=0 sp=2000,0 pos=2007,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=0
22:27:51.311 state mode=1 m1_pwm=0 m2_pwm=0 sp=2007,0 pos=2007,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
22:27:54.789 wdog [armed][timeout_ms][tripped][trips] 0000000000
22:27:55.128 sent 0x04 401f0000 -> ack Ack(counter=18, opcode=4, status=2, reason=3)
22:27:55.460 state mode=1 m1_pwm=0 m2_pwm=0 sp=2007,0 pos=2007,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=1
22:28:01.548 wdog [armed][timeout_ms][tripped][trips] 0000000000

(D2 open; then D2 jumpered once the move toward 8000 started)

$ ssh <controller> 'cd dcmt-bench && B="venv/bin/python dcmt_bench.py" && $B state && sleep 1 && $B state && $B brake 0 0 && $B watch 1 && $B sp 8000 0 && $B watch 6'
22:28:25.825 state mode=1 m1_pwm=0 m2_pwm=0 sp=2007,0 pos=2007,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=1
22:28:27.129 state mode=1 m1_pwm=0 m2_pwm=0 sp=2007,0 pos=2007,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=1
22:28:27.444 sent 0x02 0000 -> ack Ack(counter=19, opcode=2, status=1, reason=0)
22:28:27.764 state mode=1 m1_pwm=0 m2_pwm=0 sp=2007,0 pos=2007,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=1
22:28:28.851 wdog [armed][timeout_ms][tripped][trips] 0000000000
22:28:29.165 sent 0x04 401f0000 -> ack Ack(counter=20, opcode=4, status=1, reason=0)
22:28:29.501 state mode=1 m1_pwm=0 m2_pwm=0 sp=3136,0 pos=3136,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=2
22:28:29.736 state mode=1 m1_pwm=0 m2_pwm=0 sp=3252,0 pos=3252,0 spd=-32768,-32768 brakes=0b11 estop=1 estop_count=3
22:28:35.609 wdog [armed][timeout_ms][tripped][trips] 0000000000

(D2 open; shaft turned by hand with the brakes on)

$ ssh <controller> 'cd dcmt-bench && B="venv/bin/python dcmt_bench.py" && $B state && $B brake 0 0 && $B watch 2 && $B state'
22:30:03.868 state mode=1 m1_pwm=0 m2_pwm=0 sp=2977,0 pos=2977,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=3
22:30:04.180 sent 0x02 0000 -> ack Ack(counter=21, opcode=2, status=1, reason=0)
22:30:04.498 state mode=1 m1_pwm=0 m2_pwm=0 sp=2977,0 pos=2977,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=3
22:30:06.671 wdog [armed][timeout_ms][tripped][trips] 0000000000
22:30:06.973 state mode=1 m1_pwm=0 m2_pwm=0 sp=2977,0 pos=2977,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=3

(D2 jumpered and removed)

$ ssh <controller> 'cd dcmt-bench && B="venv/bin/python dcmt_bench.py" && $B state && $B sp 1000 0 && $B state && $B brake 0 0 && $B watch 4 && $B brake 1 1 && $B mode 0 && $B state'
22:30:45.311 state mode=1 m1_pwm=0 m2_pwm=0 sp=2977,0 pos=2977,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=4
22:30:45.622 sent 0x04 e8030000 -> ack Ack(counter=22, opcode=4, status=1, reason=0)
22:30:45.923 state mode=1 m1_pwm=0 m2_pwm=0 sp=1000,0 pos=2977,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=4
22:30:46.234 sent 0x02 0000 -> ack Ack(counter=23, opcode=2, status=1, reason=0)
22:30:46.551 state mode=1 m1_pwm=-133 m2_pwm=0 sp=1000,0 pos=1869,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=4
22:30:46.786 state mode=1 m1_pwm=-55 m2_pwm=0 sp=1000,0 pos=1302,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=4
22:30:47.021 state mode=1 m1_pwm=-27 m2_pwm=0 sp=1000,0 pos=1075,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=4
22:30:47.256 state mode=1 m1_pwm=0 m2_pwm=0 sp=1000,0 pos=1004,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=4
22:30:50.734 wdog [armed][timeout_ms][tripped][trips] 0000000000
22:30:51.080 sent 0x02 0101 -> ack Ack(counter=24, opcode=2, status=1, reason=0)
22:30:51.392 sent 0x03 00 -> ack Ack(counter=25, opcode=3, status=1, reason=0)
22:30:51.692 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=1004,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=4

$ ssh <controller> 'cd dcmt-bench && B="venv/bin/python dcmt_bench.py" && $B brake 0 0 && $B mode 0 && $B open 60 0 && $B wdl 1000 1 && $B watch 3; $B wd 0; $B clear; $B wdog; $B brake 0 0 && $B open 60 0 && $B wd 1000 && $B watch 3; $B wd 0; $B open 0 0; $B brake 1 1; $B wdl 1000 2; $B wdog; $B state'
22:31:17.949 sent 0x02 0000 -> ack Ack(counter=26, opcode=2, status=1, reason=0)
22:31:18.259 sent 0x03 00 -> ack Ack(counter=27, opcode=3, status=1, reason=0)
22:31:18.569 sent 0x01 3c000000 -> ack Ack(counter=28, opcode=1, status=1, reason=0)
22:31:18.881 sent 0x7E e80301 -> ack Ack(counter=29, opcode=126, status=1, reason=0)
22:31:19.197 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=1771,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=4
22:31:20.083 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=2674,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=4
22:31:22.257 wdog [armed][timeout_ms][tripped][trips] 01e8030101
22:31:22.568 sent 0x7E 0000 -> ack Ack(counter=30, opcode=126, status=1, reason=0)
22:31:22.925 sent 0x7C  -> ack Ack(counter=31, opcode=124, status=1, reason=0)
22:31:23.224 wdog [armed][timeout_ms][tripped][trips] 0000000001
22:31:23.535 sent 0x02 0000 -> ack Ack(counter=32, opcode=2, status=1, reason=0)
22:31:23.846 sent 0x01 3c000000 -> ack Ack(counter=33, opcode=1, status=1, reason=0)
22:31:24.155 sent 0x7E e803 -> ack Ack(counter=34, opcode=126, status=1, reason=0)
22:31:24.471 state mode=0 m1_pwm=60 m2_pwm=0 sp=-32768,-32768 pos=3479,0 spd=-32768,-32768 brakes=0b00 estop=0 estop_count=4
22:31:27.514 wdog [armed][timeout_ms][tripped][trips] 01e8030001
22:31:27.844 sent 0x7E 0000 -> ack Ack(counter=35, opcode=126, status=1, reason=0)
22:31:28.212 sent 0x01 00000000 -> ack Ack(counter=36, opcode=1, status=1, reason=0)
22:31:28.523 sent 0x02 0101 -> ack Ack(counter=37, opcode=2, status=1, reason=0)
22:31:28.835 sent 0x7E e80302 -> ack Ack(counter=38, opcode=126, status=2, reason=4)
22:31:29.135 wdog [armed][timeout_ms][tripped][trips] 0000000001
22:31:29.436 state mode=0 m1_pwm=0 m2_pwm=0 sp=-32768,-32768 pos=8532,0 spd=-32768,-32768 brakes=0b11 estop=0 estop_count=4