update help

Author: madgrizzle

docs/Actions/DiagnosticsMaintenance/testMotorsEncoders.md

@@ -7,7 +7,37 @@ grand_parent: Actions
 ---
 # Test Motors/Encoders
 
-something about motors and encoders...
+### Description
+This function sends a test command to the controller to exercise the motors and read values from the encoders.
+
+### Process
+Each axis is tested individually.  For a stock machine (two motors and z-axis) the test sequence is:
+
+* Left Motor
+* Right Motor
+* Z-Axis
+
+For each motor, the following actions are taken (based upon current stock firmware as of 11/27/19):
+
+##### Forward Motion Test:
+* Encoder position is read and stored.
+* Motor is run "forward" at full power for one second
+* Encoder position is read and stored.
+* If the difference between the ending encoder position value and beginning encoder position value is **greater than** 500 steps, then indicate a PASS, otherwise indicate a FAIL.
+
+##### Reverse Motion Test:
+* Encoder position is read and stored.
+* Motor is run "reverse" at full power for one second
+* Encoder position is read and stored.
+* If the difference between the ending encoder position value and beginning encoder position value is **less than** than 500 steps, then indicate a PASS, otherwise indicate a FAIL.
+ 
+### Interpretation
+
+|Result   	|Possible Cause/Solution   	|
+|---	|---	|
+|All Motors Fail All Tests   	|Power cord is inserted into the Arduino controller instead of the motor controller shield.  Check installation.   	|
+|One or More Motors Fails Both Directions   	|Motor cable not inserted properly into either the motor controller shield or the motor.  Unplug and replug the cable ends.   	|
+|One or More Motors Fail One Direction   	|Possible hardware issue with motor or encoder   	|
 
 
 Release: >0.906