It turns out that the motors and IMU were actually not flipped around, I had a naming bug in the block design that made a bunch of things look wrong, and the direction plate was flipped (velcro got removed and re-attached).

The test has the user install a loopback jumper, then tests that the record/generate match at 1% intervals. The error currently holds at 18 cycles (probably a filter thing).

The PWM record and generate seem to be working (absolute minimum testing). The I2C sensors have not been tested at all with this setup.

The diagram needed to be generated as part of the project tcl, not copied in. This allpies only to new projects, not saving the project tcl for existing projects.