## Procedure for Testing Motors on the testbench
1. Hardware (Testbench)
    - Roborio/systemcore
    - PDP/PDH
    - Motor
    - Power Source/Battery
    - Circuit Breaker
    - CAN wiring
    - Any encoder/sensor being tested
    - Laptop/driver station
2. Software configuration
    - WPILib 
    - Phoenix 6 
    - Motor CAN ID
    - Motor inversion
    - Neutral mode
    - Current limits
    - Voltage limits
    - Phoenix Tuner X
3. Testing Procedure
    - Label the Motor with a Motor number/name
    - Secure the motor to the testbench.
    - Verify all wiring and CAN connections.
    - Establish a connection between Roborio/systemcore and Driver Station
    - Load Phoenix Tuner X
    - Enable the robot.
    - Using Phoenix Tuner, feed the motor direct voltage
    - Start with 1 volt and go up to 5 - 6 volts depending on the behavior of the motor
    - Verify the motor rotates in the expected direction.
    - Plot Stator Current, Supply Current, and Velocity
        - Kraken X60
            - Test Voltage: ~ 5 V
            - Velocity: ~ 50 RPM
            - Stator Current: ~1.1 A
        - Falcon
            - Test Voltage: ~ 5 V
            - Velocity: ~ 44 RPM
            - Stator Current: ~ 0.9 A
        - Kraken X44
            - Test Voltage: ~ 5 V
            - Velocity: ~ 75 RPM
            - Stator Current: ~ 2.2 A
    - Repeat the test in the reverse direction.
    - Observe any rumbling or loud, unusual noises
    - Disable the motor
NOTE: Additional testing at different voltages and under load should be performed before concluding motor performance. This is only the free spin test.
4. Recording
    - Motor Information
        - Motor type/model
    - Test Conditions
        - Applied voltage
        - Whether the motor was free-spinning or under load
    - Motor Measurements
        - Velocity (RPM)
        - Stator Current (A)
        - Supply Current (A)
        - Applied Voltage (V)
    - Motor Behavior
        - Unusual noises 
        - Rumbling, screeching, clicking
        - Vibrations or wobbling
        - Skipping or inconsistent rotation
        - Changes in velocity or current
        - Any visible mechanical issues
    - Controller/Communication
        - Phoenix Tuner X faults
        - CAN errors
        - Motor controller warnings
        - Any unexpected behavior
    - Final Assessment
        - Good / Bad
        - Any important reasoning