From d8616c9e210920864e5ba0527a4cb7b41374870e Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Fri, 16 Dec 2022 15:24:42 -0500
Subject: [PATCH 01/18] added name to roboclaw struct

---
 components/motor/roboclaw/roboclaw.go | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/components/motor/roboclaw/roboclaw.go b/components/motor/roboclaw/roboclaw.go
index e27a06a4908..290bd50754f 100644
--- a/components/motor/roboclaw/roboclaw.go
+++ b/components/motor/roboclaw/roboclaw.go
@@ -56,6 +56,7 @@ func init() {
 		motor.Subtype,
 		modelname,
 		registry.Component{
+			//name in config.component
 			Constructor: func(ctx context.Context, deps registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
 				return newRoboClaw(deps, config, logger)
 			},
@@ -118,12 +119,19 @@ func newRoboClaw(deps registry.Dependencies, config config.Component, logger gol
 		return nil, err
 	}
 
-	return &roboclawMotor{conn: c, conf: motorConfig, addr: uint8(motorConfig.Address), logger: logger}, nil
+	motorName := config.Name
+
+	if motorName == "" {
+		return nil, err
+	}
+
+	return &roboclawMotor{name: motorName, conn: c, conf: motorConfig, addr: uint8(motorConfig.Address), logger: logger}, nil
 }
 
 var _ = motor.LocalMotor(&roboclawMotor{})
 
 type roboclawMotor struct {
+	name string
 	conn *roboclaw.Roboclaw
 	conf *AttrConfig
 
@@ -251,5 +259,5 @@ func (m *roboclawMotor) IsPowered(ctx context.Context, extra map[string]interfac
 }
 
 func (m *roboclawMotor) GoTillStop(ctx context.Context, rpm float64, stopFunc func(ctx context.Context) bool) error {
-	return motor.NewGoTillStopUnsupportedError("(name unavailable)")
+	return motor.NewGoTillStopUnsupportedError(m.name)
 }

From 3598f132cc135ceeb8c04241459cb5633310de2f Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Fri, 16 Dec 2022 15:32:03 -0500
Subject: [PATCH 02/18] remove comments

---
 components/motor/roboclaw/roboclaw.go | 1 -
 1 file changed, 1 deletion(-)

diff --git a/components/motor/roboclaw/roboclaw.go b/components/motor/roboclaw/roboclaw.go
index 290bd50754f..c886e9d054e 100644
--- a/components/motor/roboclaw/roboclaw.go
+++ b/components/motor/roboclaw/roboclaw.go
@@ -56,7 +56,6 @@ func init() {
 		motor.Subtype,
 		modelname,
 		registry.Component{
-			//name in config.component
 			Constructor: func(ctx context.Context, deps registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
 				return newRoboClaw(deps, config, logger)
 			},

From 10ed77e302f5c7ebd16cd67bae81cd49c768c982 Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Fri, 16 Dec 2022 15:52:32 -0500
Subject: [PATCH 03/18] removing unnecessary validation

---
 components/motor/roboclaw/roboclaw.go | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/components/motor/roboclaw/roboclaw.go b/components/motor/roboclaw/roboclaw.go
index c886e9d054e..6b30b211882 100644
--- a/components/motor/roboclaw/roboclaw.go
+++ b/components/motor/roboclaw/roboclaw.go
@@ -118,13 +118,7 @@ func newRoboClaw(deps registry.Dependencies, config config.Component, logger gol
 		return nil, err
 	}
 
-	motorName := config.Name
-
-	if motorName == "" {
-		return nil, err
-	}
-
-	return &roboclawMotor{name: motorName, conn: c, conf: motorConfig, addr: uint8(motorConfig.Address), logger: logger}, nil
+	return &roboclawMotor{name: config.Name, conn: c, conf: motorConfig, addr: uint8(motorConfig.Address), logger: logger}, nil
 }
 
 var _ = motor.LocalMotor(&roboclawMotor{})

From 3b477d491a1dd30d5f81384651b812628e908ba9 Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Fri, 16 Dec 2022 16:23:08 -0500
Subject: [PATCH 04/18] adding motor name to gpio

---
 components/motor/gpio/setup.go       | 2 +-
 components/motor/i2cmotors/ezopmp.go | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/components/motor/gpio/setup.go b/components/motor/gpio/setup.go
index f5d79de883c..baa6a4957a1 100644
--- a/components/motor/gpio/setup.go
+++ b/components/motor/gpio/setup.go
@@ -70,7 +70,7 @@ func init() {
 				return nil, err
 			}
 
-			m, err := NewMotor(actualBoard, *motorConfig, logger)
+			m, err := NewMotor(actualBoard, *motorConfig, config, logger)
 			if err != nil {
 				return nil, err
 			}
diff --git a/components/motor/i2cmotors/ezopmp.go b/components/motor/i2cmotors/ezopmp.go
index 66b4a87c4fb..5728dea678f 100644
--- a/components/motor/i2cmotors/ezopmp.go
+++ b/components/motor/i2cmotors/ezopmp.go
@@ -81,6 +81,7 @@ func init() {
 
 // Ezopmp represents a motor connected via the I2C protocol.
 type Ezopmp struct {
+	name        string
 	board       board.Board
 	bus         board.I2C
 	I2CAddress  byte

From dbf4c2fe555557f302ad46c300806e6c838394f1 Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Fri, 16 Dec 2022 16:23:10 -0500
Subject: [PATCH 05/18] changes to gpio

---
 components/motor/gpio/basic.go | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/components/motor/gpio/basic.go b/components/motor/gpio/basic.go
index 184c26c8942..b7c254aa6aa 100644
--- a/components/motor/gpio/basic.go
+++ b/components/motor/gpio/basic.go
@@ -12,12 +12,13 @@ import (
 	"go.viam.com/rdk/components/board"
 	"go.viam.com/rdk/components/generic"
 	"go.viam.com/rdk/components/motor"
+	"go.viam.com/rdk/config"
 	"go.viam.com/rdk/operation"
 )
 
 // NewMotor constructs a new GPIO based motor on the given board using the
 // given configuration.
-func NewMotor(b board.Board, mc Config, logger golog.Logger) (motor.Motor, error) {
+func NewMotor(b board.Board, mc Config, c config.Component, logger golog.Logger) (motor.Motor, error) {
 	if mc.MaxPowerPct == 0 {
 		mc.MaxPowerPct = 1.0
 	}
@@ -40,6 +41,7 @@ func NewMotor(b board.Board, mc Config, logger golog.Logger) (motor.Motor, error
 		maxRPM:      mc.MaxRPM,
 		dirFlip:     mc.DirectionFlip,
 		logger:      logger,
+		motorName:   c.Name,
 	}
 
 	if mc.Pins.A != "" {
@@ -103,6 +105,7 @@ type Motor struct {
 	powerPct                 float64
 	maxRPM                   float64
 	dirFlip                  bool
+	motorName                string
 
 	opMgr  operation.SingleOperationManager
 	logger golog.Logger
@@ -305,5 +308,5 @@ func (m *Motor) ResetZeroPosition(ctx context.Context, offset float64, extra map
 
 // GoTillStop is not supported.
 func (m *Motor) GoTillStop(ctx context.Context, rpm float64, stopFunc func(ctx context.Context) bool) error {
-	return motor.NewGoTillStopUnsupportedError("(name unavailable)")
+	return motor.NewGoTillStopUnsupportedError(m.motorName)
 }

From e6df7c5f008570b29205ab3305a5d3409a0d99d9 Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Fri, 16 Dec 2022 16:47:04 -0500
Subject: [PATCH 06/18] adding motorname to i2c

---
 components/motor/i2cmotors/ezopmp.go | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/components/motor/i2cmotors/ezopmp.go b/components/motor/i2cmotors/ezopmp.go
index 5728dea678f..e1296677386 100644
--- a/components/motor/i2cmotors/ezopmp.go
+++ b/components/motor/i2cmotors/ezopmp.go
@@ -59,7 +59,7 @@ const modelName = "ezopmp"
 func init() {
 	_motor := registry.Component{
 		Constructor: func(ctx context.Context, deps registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
-			return NewMotor(ctx, deps, config.ConvertedAttributes.(*AttrConfig), logger)
+			return NewMotor(ctx, deps, config.ConvertedAttributes.(*AttrConfig), config, logger)
 		},
 	}
 	registry.RegisterComponent(motor.Subtype, modelName, _motor)
@@ -104,7 +104,7 @@ const (
 )
 
 // NewMotor returns a motor(Ezopmp) with I2C protocol.
-func NewMotor(ctx context.Context, deps registry.Dependencies, c *AttrConfig, logger golog.Logger) (motor.LocalMotor, error) {
+func NewMotor(ctx context.Context, deps registry.Dependencies, c *AttrConfig, cfg config.Component, logger golog.Logger) (motor.LocalMotor, error) {
 	b, err := board.FromDependencies(deps, c.BoardName)
 	if err != nil {
 		return nil, err
@@ -127,6 +127,7 @@ func NewMotor(ctx context.Context, deps registry.Dependencies, c *AttrConfig, lo
 		logger:      logger,
 		maxPowerPct: 1.0,
 		powerPct:    0.0,
+		name:        cfg.Name,
 	}
 
 	flowRate, err := m.findMaxFlowRate(ctx)
@@ -385,5 +386,5 @@ func (m *Ezopmp) IsPowered(ctx context.Context, extra map[string]interface{}) (b
 
 // GoTillStop is unimplemented.
 func (m *Ezopmp) GoTillStop(ctx context.Context, rpm float64, stopFunc func(ctx context.Context) bool) error {
-	return motor.NewGoTillStopUnsupportedError("(name unavailable)")
+	return motor.NewGoTillStopUnsupportedError(m.name)
 }

From 677c85dd2f9b00b86ce839b2a816acb6ff0c6b68 Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Fri, 16 Dec 2022 17:17:39 -0500
Subject: [PATCH 07/18] updating referece calls

---
 components/motor/gpio/basic_test.go | 21 ++++++++++++++-------
 1 file changed, 14 insertions(+), 7 deletions(-)

diff --git a/components/motor/gpio/basic_test.go b/components/motor/gpio/basic_test.go
index b6168379712..bf1e47d78df 100644
--- a/components/motor/gpio/basic_test.go
+++ b/components/motor/gpio/basic_test.go
@@ -12,6 +12,7 @@ import (
 	"go.viam.com/rdk/components/board"
 	fakeboard "go.viam.com/rdk/components/board/fake"
 	"go.viam.com/rdk/components/motor"
+	"go.viam.com/rdk/config"
 )
 
 const maxRPM = 100
@@ -22,10 +23,12 @@ func TestMotorABPWM(t *testing.T) {
 	b := &fakeboard.Board{GPIOPins: map[string]*fakeboard.GPIOPin{}}
 	logger := golog.NewTestLogger(t)
 
+	mc := config.Component{}
+
 	t.Run("motor (A/B/PWM) initialization errors", func(t *testing.T) {
 		m, err := NewMotor(b, Config{
 			Pins: PinConfig{A: "1", B: "2", PWM: "3"}, MaxPowerPct: 100, PWMFreq: 4000,
-		}, logger)
+		}, mc, logger)
 		test.That(t, m, test.ShouldBeNil)
 		test.That(t, err, test.ShouldBeError, errors.New("max_power_pct must be between 0.06 and 1.0"))
 	})
@@ -33,7 +36,7 @@ func TestMotorABPWM(t *testing.T) {
 	m, err := NewMotor(b, Config{
 		Pins:   PinConfig{A: "1", B: "2", PWM: "3"},
 		MaxRPM: maxRPM, PWMFreq: 4000,
-	}, logger)
+	}, mc, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	t.Run("motor (A/B/PWM) Off testing", func(t *testing.T) {
@@ -133,8 +136,10 @@ func TestMotorDirPWM(t *testing.T) {
 	b := &fakeboard.Board{GPIOPins: map[string]*fakeboard.GPIOPin{}}
 	logger := golog.NewTestLogger(t)
 
+	mc := config.Component{}
+
 	t.Run("motor (DIR/PWM) initialization errors", func(t *testing.T) {
-		m, err := NewMotor(b, Config{Pins: PinConfig{Direction: "1", EnablePinLow: "2", PWM: "3"}, PWMFreq: 4000}, logger)
+		m, err := NewMotor(b, Config{Pins: PinConfig{Direction: "1", EnablePinLow: "2", PWM: "3"}, PWMFreq: 4000}, mc, logger)
 
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, m.GoFor(ctx, 50, 10, nil), test.ShouldBeError, errors.New("not supported, define max_rpm attribute != 0"))
@@ -142,7 +147,7 @@ func TestMotorDirPWM(t *testing.T) {
 		_, err = NewMotor(
 			b,
 			Config{Pins: PinConfig{Direction: "1", EnablePinLow: "2", PWM: "3"}, MaxPowerPct: 100, PWMFreq: 4000},
-			logger,
+			mc, logger,
 		)
 		test.That(t, err, test.ShouldBeError, errors.New("max_power_pct must be between 0.06 and 1.0"))
 	})
@@ -150,7 +155,7 @@ func TestMotorDirPWM(t *testing.T) {
 	m, err := NewMotor(b, Config{
 		Pins:   PinConfig{Direction: "1", EnablePinLow: "2", PWM: "3"},
 		MaxRPM: maxRPM, PWMFreq: 4000,
-	}, logger)
+	}, mc, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	t.Run("motor (DIR/PWM) Off testing", func(t *testing.T) {
@@ -211,11 +216,12 @@ func TestMotorAB(t *testing.T) {
 	ctx := context.Background()
 	b := &fakeboard.Board{GPIOPins: map[string]*fakeboard.GPIOPin{}}
 	logger := golog.NewTestLogger(t)
+	mc := config.Component{}
 
 	m, err := NewMotor(b, Config{
 		Pins:   PinConfig{A: "1", B: "2", EnablePinLow: "3"},
 		MaxRPM: maxRPM, PWMFreq: 4000,
-	}, logger)
+	}, mc, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	t.Run("motor (A/B) On testing", func(t *testing.T) {
@@ -281,11 +287,12 @@ func TestMotorABNoEncoder(t *testing.T) {
 	ctx := context.Background()
 	b := &fakeboard.Board{GPIOPins: map[string]*fakeboard.GPIOPin{}}
 	logger := golog.NewTestLogger(t)
+	mc := config.Component{}
 
 	m, err := NewMotor(b, Config{
 		Pins:    PinConfig{A: "1", B: "2", EnablePinLow: "3"},
 		PWMFreq: 4000,
-	}, logger)
+	}, mc, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	t.Run("motor no encoder GoFor testing", func(t *testing.T) {

From c60104164315bc93fd0cc3c2914352b59bb2f5cf Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Fri, 16 Dec 2022 17:19:24 -0500
Subject: [PATCH 08/18] lint

---
 components/motor/i2cmotors/ezopmp.go | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/components/motor/i2cmotors/ezopmp.go b/components/motor/i2cmotors/ezopmp.go
index e1296677386..0b1391a3521 100644
--- a/components/motor/i2cmotors/ezopmp.go
+++ b/components/motor/i2cmotors/ezopmp.go
@@ -104,7 +104,9 @@ const (
 )
 
 // NewMotor returns a motor(Ezopmp) with I2C protocol.
-func NewMotor(ctx context.Context, deps registry.Dependencies, c *AttrConfig, cfg config.Component, logger golog.Logger) (motor.LocalMotor, error) {
+func NewMotor(ctx context.Context, deps registry.Dependencies, c *AttrConfig, cfg config.Component,
+	logger golog.Logger,
+) (motor.LocalMotor, error) {
 	b, err := board.FromDependencies(deps, c.BoardName)
 	if err != nil {
 		return nil, err

From ec652200253685c4d0acb68be58743a3149760fa Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Mon, 19 Dec 2022 15:50:44 -0500
Subject: [PATCH 09/18] New error, updating gpio errors

---
 components/motor/gpio/basic.go | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/components/motor/gpio/basic.go b/components/motor/gpio/basic.go
index b7c254aa6aa..cafd347f06d 100644
--- a/components/motor/gpio/basic.go
+++ b/components/motor/gpio/basic.go
@@ -298,12 +298,12 @@ func (m *Motor) IsMoving(ctx context.Context) (bool, error) {
 
 // GoTo is not supported.
 func (m *Motor) GoTo(ctx context.Context, rpm, positionRevolutions float64, extra map[string]interface{}) error {
-	return errors.New("not supported")
+	return motor.NewGoToUnsupportedError(m.motorName)
 }
 
 // ResetZeroPosition is not supported.
 func (m *Motor) ResetZeroPosition(ctx context.Context, offset float64, extra map[string]interface{}) error {
-	return errors.New("not supported")
+	return motor.NewResetZeroPositionUnsupportedError(m.motorName)
 }
 
 // GoTillStop is not supported.

From a0fc6b8754fe80c3dcdd9d66d5c6f8cd34c34780 Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Mon, 19 Dec 2022 15:50:47 -0500
Subject: [PATCH 10/18] new error

---
 components/motor/errors.go | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/components/motor/errors.go b/components/motor/errors.go
index ebd23795022..66b95130d56 100644
--- a/components/motor/errors.go
+++ b/components/motor/errors.go
@@ -25,3 +25,8 @@ func NewFeatureUnsupportedError(feature Feature, motorName string) error {
 func NewZeroRPMError() error {
 	return errors.New("Cannot move motor at 0 RPM")
 }
+
+// NewGoToUnsupportedError returns error when a motor is required to support GoTo feature
+func NewGoToUnsupportedError(motorName string) error {
+	return errors.Errorf("motor with name %s does not support GoTo", motorName)
+}

From 32aead96342a5fd5ae1873d74749352c3bf117ab Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Mon, 19 Dec 2022 16:12:36 -0500
Subject: [PATCH 11/18] adding error to sabertooth

---
 components/motor/dimensionengineering/sabertooth.go | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/components/motor/dimensionengineering/sabertooth.go b/components/motor/dimensionengineering/sabertooth.go
index a536c91a723..6bb0717e068 100644
--- a/components/motor/dimensionengineering/sabertooth.go
+++ b/components/motor/dimensionengineering/sabertooth.go
@@ -418,7 +418,7 @@ func (m *Motor) GoFor(ctx context.Context, rpm, revolutions float64, extra map[s
 // at a specific speed. Regardless of the directionality of the RPM this function will move the motor
 // towards the specified target/position.
 func (m *Motor) GoTo(ctx context.Context, rpm, position float64, extra map[string]interface{}) error {
-	return errors.New("not supported")
+	return motor.NewGoToUnsupportedError(fmt.Sprintf("Channel %d on Sabertooth %d", m.Channel, m.c.address))
 }
 
 // GoTillStop moves a motor until stopped by the controller (due to switch or function) or stopFunc.
@@ -428,7 +428,8 @@ func (m *Motor) GoTillStop(ctx context.Context, rpm float64, stopFunc func(ctx c
 
 // ResetZeroPosition defines the current position to be zero (+/- offset).
 func (m *Motor) ResetZeroPosition(ctx context.Context, offset float64, extra map[string]interface{}) error {
-	return errors.New("not supported")
+	return motor.NewResetZeroPositionUnsupportedError(fmt.Sprintf("Channel %d on Sabertooth %d",
+		m.Channel, m.c.address))
 }
 
 // Position reports the position in revolutions.

From a8123bb46313c8f5f47d6f41089bbf3f4604ec56 Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Mon, 19 Dec 2022 16:14:04 -0500
Subject: [PATCH 12/18] comments

---
 components/motor/errors.go | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/components/motor/errors.go b/components/motor/errors.go
index 66b95130d56..b16bc6329d1 100644
--- a/components/motor/errors.go
+++ b/components/motor/errors.go
@@ -26,7 +26,7 @@ func NewZeroRPMError() error {
 	return errors.New("Cannot move motor at 0 RPM")
 }
 
-// NewGoToUnsupportedError returns error when a motor is required to support GoTo feature
+// NewGoToUnsupportedError returns error when a motor is required to support GoTo feature.
 func NewGoToUnsupportedError(motorName string) error {
 	return errors.Errorf("motor with name %s does not support GoTo", motorName)
 }

From 0b72f1a6c81317493015902966af71ec5450c607 Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Tue, 20 Dec 2022 14:57:36 -0500
Subject: [PATCH 13/18] Adding errors messages to all motors w/ motor name

---
 .../motor/dimensionengineering/sabertooth.go  | 14 +++++++----
 components/motor/dmc4000/dmc.go               | 18 +++++++++++----
 components/motor/gpio/basic.go                |  2 +-
 components/motor/gpiostepper/gpiostepper.go   | 18 +++++++++------
 .../motor/gpiostepper/gpiostepper_test.go     | 12 ++++++----
 components/motor/i2cmotors/ezopmp.go          | 22 +++++++++---------
 .../motor/tmcstepper/stepper_motor_tmc.go     | 23 ++++++++++++-------
 7 files changed, 67 insertions(+), 42 deletions(-)

diff --git a/components/motor/dimensionengineering/sabertooth.go b/components/motor/dimensionengineering/sabertooth.go
index 6bb0717e068..bc7291479cc 100644
--- a/components/motor/dimensionengineering/sabertooth.go
+++ b/components/motor/dimensionengineering/sabertooth.go
@@ -3,7 +3,6 @@ package dimensionengineering
 
 import (
 	"context"
-	"errors"
 	"fmt"
 	"io"
 	"math"
@@ -14,6 +13,7 @@ import (
 	"github.com/edaniels/golog"
 	"github.com/jacobsa/go-serial/serial"
 	"github.com/mitchellh/mapstructure"
+	"github.com/pkg/errors"
 	utils "go.viam.com/utils"
 
 	"go.viam.com/rdk/components/motor"
@@ -67,6 +67,9 @@ type Motor struct {
 
 	// A manager to ensure only a single operation is happening at any given time since commands could overlap on the serial port
 	opMgr operation.SingleOperationManager
+
+	// Name of the motor
+	motorName string
 }
 
 // Config adds DimensionEngineering-specific config options.
@@ -127,7 +130,7 @@ func init() {
 			if !ok {
 				return nil, rdkutils.NewUnexpectedTypeError(conf, config.ConvertedAttributes)
 			}
-			return NewMotor(ctx, conf, logger)
+			return NewMotor(ctx, conf, config, logger)
 		},
 	}
 	registry.RegisterComponent(motor.Subtype, modelName, _motor)
@@ -216,7 +219,7 @@ func (cfg *Config) validateValues() error {
 }
 
 // NewMotor returns a Sabertooth driven motor.
-func NewMotor(ctx context.Context, c *Config, logger golog.Logger) (motor.LocalMotor, error) {
+func NewMotor(ctx context.Context, c *Config, mc config.Component, logger golog.Logger) (motor.LocalMotor, error) {
 	globalMu.Lock()
 	defer globalMu.Unlock()
 
@@ -257,6 +260,7 @@ func NewMotor(ctx context.Context, c *Config, logger golog.Logger) (motor.LocalM
 		dirFlip:     c.DirectionFlip,
 		minPowerPct: c.MinPowerPct,
 		maxPowerPct: c.MaxPowerPct,
+		motorName:   mc.Name,
 	}
 
 	if err := m.configure(c); err != nil {
@@ -384,7 +388,7 @@ func (m *Motor) SetPower(ctx context.Context, powerPct float64, extra map[string
 	}
 	c, err := newCommand(m.c.address, cmd, m.Channel, byte(int(rawSpeed)))
 	if err != nil {
-		return err
+		return errors.Wrapf(err, "error in SetPower from motor (%s)", m.motorName)
 	}
 	err = m.c.sendCmd(c)
 	return err
@@ -401,7 +405,7 @@ func (m *Motor) GoFor(ctx context.Context, rpm, revolutions float64, extra map[s
 	powerPct, waitDur := goForMath(m.maxRPM, rpm, revolutions)
 	err := m.SetPower(ctx, powerPct, extra)
 	if err != nil {
-		return err
+		return errors.Wrapf(err, "error in GoFor from motor (%s)", m.motorName)
 	}
 
 	if revolutions == 0 {
diff --git a/components/motor/dmc4000/dmc.go b/components/motor/dmc4000/dmc.go
index b47d00e7562..2035b74822f 100644
--- a/components/motor/dmc4000/dmc.go
+++ b/components/motor/dmc4000/dmc.go
@@ -4,7 +4,6 @@ package dmc4000
 import (
 	"bytes"
 	"context"
-	"errors"
 	"fmt"
 	"io"
 	"math"
@@ -16,6 +15,7 @@ import (
 	"github.com/edaniels/golog"
 	"github.com/jacobsa/go-serial/serial"
 	"github.com/mitchellh/mapstructure"
+	"github.com/pkg/errors"
 	"go.viam.com/utils"
 	"go.viam.com/utils/usb"
 
@@ -62,6 +62,7 @@ type Motor struct {
 	jogging          bool
 	opMgr            operation.SingleOperationManager
 	powerPct         float64
+	motorName        string
 }
 
 // Config adds DMC-specific config options.
@@ -90,7 +91,7 @@ func init() {
 
 	_motor := registry.Component{
 		Constructor: func(ctx context.Context, _ registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
-			return NewMotor(ctx, config.ConvertedAttributes.(*Config), logger)
+			return NewMotor(ctx, config.ConvertedAttributes.(*Config), config, logger)
 		},
 	}
 	registry.RegisterComponent(motor.Subtype, modelName, _motor)
@@ -114,7 +115,7 @@ func init() {
 }
 
 // NewMotor returns a DMC4000 driven motor.
-func NewMotor(ctx context.Context, c *Config, logger golog.Logger) (motor.LocalMotor, error) {
+func NewMotor(ctx context.Context, c *Config, mc config.Component, logger golog.Logger) (motor.LocalMotor, error) {
 	if c.SerialDevice == "" {
 		devs := usb.Search(usbFilter, func(vendorID, productID int) bool {
 			if vendorID == 0x403 && productID == 0x6001 {
@@ -167,6 +168,7 @@ func NewMotor(ctx context.Context, c *Config, logger golog.Logger) (motor.LocalM
 		MaxAcceleration:  c.MaxAcceleration,
 		HomeRPM:          c.HomeRPM,
 		powerPct:         0.0,
+		motorName:        mc.Name,
 	}
 
 	if m.MaxRPM <= 0 {
@@ -542,7 +544,7 @@ func (m *Motor) GoTo(ctx context.Context, rpm, position float64, extra map[strin
 	defer m.c.mu.Unlock()
 
 	if err := m.doGoTo(rpm, position); err != nil {
-		return err
+		return motor.NewGoToUnsupportedError(m.motorName)
 	}
 
 	return m.opMgr.WaitForSuccess(
@@ -601,6 +603,9 @@ func (m *Motor) ResetZeroPosition(ctx context.Context, offset float64, extra map
 	m.c.mu.Lock()
 	defer m.c.mu.Unlock()
 	_, err := m.c.sendCmd(fmt.Sprintf("DP%s=%d", m.Axis, int(offset*float64(m.TicksPerRotation))))
+	if err != nil {
+		return errors.Wrapf(err, "error in ResetZeroPosition from motor (%s)", m.motorName)
+	}
 	return err
 }
 
@@ -622,7 +627,7 @@ func (m *Motor) Stop(ctx context.Context, extra map[string]interface{}) error {
 	m.jogging = false
 	_, err := m.c.sendCmd(fmt.Sprintf("ST%s", m.Axis))
 	if err != nil {
-		return err
+		return errors.Wrapf(err, "error in Stop function from motor (%s)", m.motorName)
 	}
 
 	return m.opMgr.WaitForSuccess(
@@ -646,6 +651,9 @@ func (m *Motor) IsMoving(ctx context.Context) (bool, error) {
 // IsPowered returns whether or not the motor is currently moving.
 func (m *Motor) IsPowered(ctx context.Context, extra map[string]interface{}) (bool, float64, error) {
 	on, err := m.IsMoving(ctx)
+	if err != nil {
+		return on, m.powerPct, errors.Wrapf(err, "error in IsPowered from motor (%s)", m.motorName)
+	}
 	return on, m.powerPct, err
 }
 
diff --git a/components/motor/gpio/basic.go b/components/motor/gpio/basic.go
index cafd347f06d..967f5b198ae 100644
--- a/components/motor/gpio/basic.go
+++ b/components/motor/gpio/basic.go
@@ -266,7 +266,7 @@ func (m *Motor) GoFor(ctx context.Context, rpm, revolutions float64, extra map[s
 	powerPct, waitDur := goForMath(m.maxRPM, rpm, revolutions)
 	err := m.SetPower(ctx, powerPct, extra)
 	if err != nil {
-		return err
+		return errors.Wrapf(err, "error in GoFor from motor (%s)", m.motorName)
 	}
 
 	if revolutions == 0 {
diff --git a/components/motor/gpiostepper/gpiostepper.go b/components/motor/gpiostepper/gpiostepper.go
index 0d848cefa75..b6bcdefd537 100644
--- a/components/motor/gpiostepper/gpiostepper.go
+++ b/components/motor/gpiostepper/gpiostepper.go
@@ -58,7 +58,7 @@ func init() {
 				return nil, err
 			}
 
-			return newGPIOStepper(ctx, actualBoard, *motorConfig, logger)
+			return newGPIOStepper(ctx, actualBoard, *motorConfig, config, logger)
 		},
 	}
 	registry.RegisterComponent(motor.Subtype, modelName, _motor)
@@ -88,7 +88,9 @@ func getBoardFromRobotConfig(deps registry.Dependencies, config config.Component
 	return b, motorConfig, nil
 }
 
-func newGPIOStepper(ctx context.Context, b board.Board, mc Config, logger golog.Logger) (motor.Motor, error) {
+func newGPIOStepper(ctx context.Context, b board.Board, mc Config, c config.Component,
+	logger golog.Logger,
+) (motor.Motor, error) {
 	if mc.TicksPerRotation == 0 {
 		return nil, errors.New("expected ticks_per_rotation in config for motor")
 	}
@@ -98,6 +100,7 @@ func newGPIOStepper(ctx context.Context, b board.Board, mc Config, logger golog.
 		stepsPerRotation: mc.TicksPerRotation,
 		stepperDelay:     mc.StepperDelay,
 		logger:           logger,
+		motorName:        c.Name,
 	}
 
 	if mc.Pins.EnablePinHigh != "" {
@@ -145,6 +148,7 @@ type gpioStepper struct {
 	enablePinHigh, enablePinLow board.GPIOPin
 	stepPin, dirPin             board.GPIOPin
 	logger                      golog.Logger
+	motorName                   string
 
 	// state
 	lock  sync.Mutex
@@ -189,7 +193,7 @@ func (m *gpioStepper) SetPower(ctx context.Context, powerPct float64, extra map[
 		return nil
 	}
 
-	return errors.New("gpioStepper doesn't support raw power mode")
+	return errors.Errorf("gpioStepper doesn't support raw power mode in motor (%s)", m.motorName)
 }
 
 func (m *gpioStepper) startThread(ctx context.Context) {
@@ -268,7 +272,7 @@ func (m *gpioStepper) GoFor(ctx context.Context, rpm, revolutions float64, extra
 
 	err := m.goForInternal(ctx, rpm, revolutions)
 	if err != nil {
-		return err
+		return errors.Wrapf(err, "error in GoFor from motor (%s)", m.motorName)
 	}
 
 	if revolutions == 0 {
@@ -317,7 +321,7 @@ func (m *gpioStepper) goForInternal(ctx context.Context, rpm, revolutions float6
 func (m *gpioStepper) GoTo(ctx context.Context, rpm, positionRevolutions float64, extra map[string]interface{}) error {
 	curPos, err := m.Position(ctx, extra)
 	if err != nil {
-		return err
+		return errors.Wrapf(err, "error in GoTo from motor (%s)", m.motorName)
 	}
 	moveDistance := positionRevolutions - curPos
 
@@ -337,7 +341,7 @@ func (m *gpioStepper) GoTillStop(ctx context.Context, rpm float64, stopFunc func
 	}
 	defer func() {
 		if err := m.Stop(ctx, nil); err != nil {
-			m.logger.Errorw("failed to turn off motor", "error", err)
+			m.logger.Errorw("failed to turn off motor (%s)", m.motorName, "error", err)
 		}
 	}()
 	for {
@@ -402,7 +406,7 @@ func (m *gpioStepper) stop() {
 func (m *gpioStepper) IsPowered(ctx context.Context, extra map[string]interface{}) (bool, float64, error) {
 	on, err := m.IsMoving(ctx)
 	if err != nil {
-		return on, 0.0, err
+		return on, 0.0, errors.Wrapf(err, "error in IsPowered from motor (%s)", m.motorName)
 	}
 	percent := 0.0
 	if on {
diff --git a/components/motor/gpiostepper/gpiostepper_test.go b/components/motor/gpiostepper/gpiostepper_test.go
index 5f3c319e7d1..f109d5f5408 100644
--- a/components/motor/gpiostepper/gpiostepper_test.go
+++ b/components/motor/gpiostepper/gpiostepper_test.go
@@ -11,6 +11,7 @@ import (
 
 	fakeboard "go.viam.com/rdk/components/board/fake"
 	"go.viam.com/rdk/components/motor"
+	"go.viam.com/rdk/config"
 )
 
 func Test1(t *testing.T) {
@@ -20,32 +21,33 @@ func Test1(t *testing.T) {
 	b := &fakeboard.Board{GPIOPins: make(map[string]*fakeboard.GPIOPin)}
 
 	mc := Config{}
+	c := config.Component{}
 
 	// Create motor with no board and default config
 	t.Run("gpiostepper initializing test with no board and default config", func(t *testing.T) {
-		_, err := newGPIOStepper(ctx, nil, mc, logger)
+		_, err := newGPIOStepper(ctx, nil, mc, c, logger)
 		test.That(t, err, test.ShouldNotBeNil)
 	})
 
 	// Create motor with board and default config
 	t.Run("gpiostepper initializing test with board and default config", func(t *testing.T) {
-		_, err := newGPIOStepper(ctx, b, mc, logger)
+		_, err := newGPIOStepper(ctx, b, mc, c, logger)
 		test.That(t, err, test.ShouldNotBeNil)
 	})
 
 	mc.Pins = PinConfig{Direction: "b"}
 
-	_, err := newGPIOStepper(ctx, b, mc, logger)
+	_, err := newGPIOStepper(ctx, b, mc, c, logger)
 	test.That(t, err, test.ShouldNotBeNil)
 
 	mc.Pins.Step = "c"
 
-	_, err = newGPIOStepper(ctx, b, mc, logger)
+	_, err = newGPIOStepper(ctx, b, mc, c, logger)
 	test.That(t, err, test.ShouldNotBeNil)
 
 	mc.TicksPerRotation = 200
 
-	mm, err := newGPIOStepper(ctx, b, mc, logger)
+	mm, err := newGPIOStepper(ctx, b, mc, c, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	m := mm.(*gpioStepper)
diff --git a/components/motor/i2cmotors/ezopmp.go b/components/motor/i2cmotors/ezopmp.go
index 0b1391a3521..53cd699aafa 100644
--- a/components/motor/i2cmotors/ezopmp.go
+++ b/components/motor/i2cmotors/ezopmp.go
@@ -287,15 +287,15 @@ func (m *Ezopmp) GoFor(ctx context.Context, mLPerMin, mins float64, extra map[st
 
 	switch speed := math.Abs(mLPerMin); {
 	case speed < 0.5:
-		return errors.New("motor cannot move this slowly")
+		return errors.Errorf("motor (%s) cannot move this slowly", m.name)
 	case speed > m.maxFlowRate:
-		return errors.Errorf("max continuous flow rate is: %f", m.maxFlowRate)
+		return errors.Errorf("max continuous flow rate of motor (%s) is: %f", m.name, m.maxFlowRate)
 	}
 
 	commandString := "DC," + strconv.FormatFloat(mLPerMin, 'f', -1, 64) + "," + strconv.FormatFloat(mins, 'f', -1, 64)
 	command := []byte(commandString)
 	if err := m.writeRegWithCheck(ctx, command); err != nil {
-		return err
+		return errors.Wrapf(err, "error in GoFor from motor (%s)", m.name)
 	}
 
 	return m.opMgr.WaitTillNotPowered(ctx, time.Millisecond, m, m.Stop)
@@ -306,15 +306,15 @@ func (m *Ezopmp) GoFor(ctx context.Context, mLPerMin, mins float64, extra map[st
 func (m *Ezopmp) GoTo(ctx context.Context, mLPerMin, mins float64, extra map[string]interface{}) error {
 	switch speed := math.Abs(mLPerMin); {
 	case speed < 0.5:
-		return errors.New("motor cannot move this slowly")
+		return errors.Errorf("motor (%s) cannot move this slowly", m.name)
 	case speed > 105:
-		return errors.New("motor cannot move this fast")
+		return errors.Errorf("motor (%s) cannot move this fast", m.name)
 	}
 
 	commandString := "D," + strconv.FormatFloat(mLPerMin, 'f', -1, 64) + "," + strconv.FormatFloat(mins, 'f', -1, 64)
 	command := []byte(commandString)
 	if err := m.writeRegWithCheck(ctx, command); err != nil {
-		return err
+		return errors.Wrapf(err, "error in GoTo from motor (%s)", m.name)
 	}
 	return m.opMgr.WaitTillNotPowered(ctx, time.Millisecond, m, m.Stop)
 }
@@ -330,11 +330,11 @@ func (m *Ezopmp) Position(ctx context.Context, extra map[string]interface{}) (fl
 	command := []byte(totVolDispensed)
 	writeErr := m.writeReg(ctx, command)
 	if writeErr != nil {
-		return 0, writeErr
+		return 0, errors.Wrapf(writeErr, "error in Position from motor (%s)", m.name)
 	}
 	val, err := m.readReg(ctx)
 	if err != nil {
-		return 0, err
+		return 0, errors.Wrapf(err, "error in Position from motor (%s)", m.name)
 	}
 	splitMsg := strings.Split(string(val), ",")
 	floatVal, err := strconv.ParseFloat(splitMsg[1], 64)
@@ -366,18 +366,18 @@ func (m *Ezopmp) IsPowered(ctx context.Context, extra map[string]interface{}) (b
 	command := []byte(dispenseStatus)
 	writeErr := m.writeReg(ctx, command)
 	if writeErr != nil {
-		return false, 0, writeErr
+		return false, 0, errors.Wrapf(writeErr, "error in IsPowered from motor (%s)", m.name)
 	}
 	val, err := m.readReg(ctx)
 	if err != nil {
-		return false, 0, err
+		return false, 0, errors.Wrapf(err, "error in IsPowered from motor (%s)", m.name)
 	}
 
 	splitMsg := strings.Split(string(val), ",")
 
 	pumpStatus, err := strconv.ParseFloat(splitMsg[2], 64)
 	if err != nil {
-		return false, 0, err
+		return false, 0, errors.Wrapf(err, "error in IsPowered from motor (%s)", m.name)
 	}
 
 	if pumpStatus == 1 || pumpStatus == -1 {
diff --git a/components/motor/tmcstepper/stepper_motor_tmc.go b/components/motor/tmcstepper/stepper_motor_tmc.go
index c79454fba79..45897b0ee3a 100644
--- a/components/motor/tmcstepper/stepper_motor_tmc.go
+++ b/components/motor/tmcstepper/stepper_motor_tmc.go
@@ -71,7 +71,7 @@ const (
 func init() {
 	_motor := registry.Component{
 		Constructor: func(ctx context.Context, deps registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
-			return NewMotor(ctx, deps, *config.ConvertedAttributes.(*TMC5072Config), logger)
+			return NewMotor(ctx, deps, *config.ConvertedAttributes.(*TMC5072Config), config, logger)
 		},
 	}
 	registry.RegisterComponent(motor.Subtype, modelname, _motor)
@@ -107,6 +107,7 @@ type Motor struct {
 	logger      golog.Logger
 	opMgr       operation.SingleOperationManager
 	powerPct    float64
+	motorName   string
 }
 
 // TMC5072 Values.
@@ -151,7 +152,9 @@ const (
 )
 
 // NewMotor returns a TMC5072 driven motor.
-func NewMotor(ctx context.Context, deps registry.Dependencies, c TMC5072Config, logger golog.Logger) (motor.LocalMotor, error) {
+func NewMotor(ctx context.Context, deps registry.Dependencies, c TMC5072Config, mc config.Component,
+	logger golog.Logger,
+) (motor.LocalMotor, error) {
 	b, err := board.FromDependencies(deps, c.BoardName)
 	if err != nil {
 		return nil, errors.Errorf("%q is not a board", c.BoardName)
@@ -190,6 +193,7 @@ func NewMotor(ctx context.Context, deps registry.Dependencies, c TMC5072Config,
 		maxAcc:      c.MaxAcceleration,
 		fClk:        baseClk / c.CalFactor,
 		logger:      logger,
+		motorName:   mc.Name,
 	}
 
 	rawMaxAcc := m.rpmsToA(m.maxAcc)
@@ -389,7 +393,7 @@ func (m *Motor) GetSG(ctx context.Context) (int32, error) {
 func (m *Motor) Position(ctx context.Context, extra map[string]interface{}) (float64, error) {
 	rawPos, err := m.readReg(ctx, xActual)
 	if err != nil {
-		return 0, err
+		return 0, errors.Wrapf(err, "error in Position from motor (%s)", m.motorName)
 	}
 	return float64(rawPos) / float64(m.stepsPerRev), nil
 }
@@ -437,7 +441,7 @@ func (m *Motor) GoFor(ctx context.Context, rpm, rotations float64, extra map[str
 
 	curPos, err := m.Position(ctx, extra)
 	if err != nil {
-		return err
+		return errors.Wrapf(err, "error in GoFor from motor (%s)", m.motorName)
 	}
 
 	var d int64 = 1
@@ -485,7 +489,7 @@ func (m *Motor) GoTo(ctx context.Context, rpm, positionRevolutions float64, extr
 		m.writeReg(ctx, xTarget, int32(positionRevolutions)),
 	)
 	if err != nil {
-		return err
+		return errors.Wrapf(err, "error in GoTo from motor (%s)", m.motorName)
 	}
 
 	return m.opMgr.WaitForSuccess(
@@ -498,6 +502,9 @@ func (m *Motor) GoTo(ctx context.Context, rpm, positionRevolutions float64, extr
 // IsPowered returns true if the motor is currently moving.
 func (m *Motor) IsPowered(ctx context.Context, extra map[string]interface{}) (bool, float64, error) {
 	on, err := m.IsMoving(ctx)
+	if err != nil {
+		return on, m.powerPct, errors.Wrapf(err, "error in IsPowered from motor (%s)", m.motorName)
+	}
 	return on, m.powerPct, err
 }
 
@@ -505,7 +512,7 @@ func (m *Motor) IsPowered(ctx context.Context, extra map[string]interface{}) (bo
 func (m *Motor) IsStopped(ctx context.Context) (bool, error) {
 	stat, err := m.readReg(ctx, rampStat)
 	if err != nil {
-		return false, err
+		return false, errors.Wrapf(err, "error in IsStopped from motor (%s)", m.motorName)
 	}
 	// Look for vzero flag
 	return stat&0x400 == 0x400, nil
@@ -642,9 +649,9 @@ func (m *Motor) GoTillStop(ctx context.Context, rpm float64, stopFunc func(ctx c
 func (m *Motor) ResetZeroPosition(ctx context.Context, offset float64, extra map[string]interface{}) error {
 	on, _, err := m.IsPowered(ctx, extra)
 	if err != nil {
-		return err
+		return errors.Wrapf(err, "error in ResetZeroPosition from motor (%s)", m.motorName)
 	} else if on {
-		return errors.New("can't zero while moving")
+		return errors.Errorf("can't zero motor (%s) while moving", m.motorName)
 	}
 	return multierr.Combine(
 		m.writeReg(ctx, rampMode, modeHold),

From b7cb089ccebd2675b3314e464be8c3dc27a3cc29 Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Tue, 20 Dec 2022 16:09:53 -0500
Subject: [PATCH 14/18] passing motor name as string in newMotor

---
 components/motor/gpio/basic_test.go | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/components/motor/gpio/basic_test.go b/components/motor/gpio/basic_test.go
index bf1e47d78df..442de62ad00 100644
--- a/components/motor/gpio/basic_test.go
+++ b/components/motor/gpio/basic_test.go
@@ -28,7 +28,7 @@ func TestMotorABPWM(t *testing.T) {
 	t.Run("motor (A/B/PWM) initialization errors", func(t *testing.T) {
 		m, err := NewMotor(b, Config{
 			Pins: PinConfig{A: "1", B: "2", PWM: "3"}, MaxPowerPct: 100, PWMFreq: 4000,
-		}, mc, logger)
+		}, mc.Name, logger)
 		test.That(t, m, test.ShouldBeNil)
 		test.That(t, err, test.ShouldBeError, errors.New("max_power_pct must be between 0.06 and 1.0"))
 	})
@@ -36,7 +36,7 @@ func TestMotorABPWM(t *testing.T) {
 	m, err := NewMotor(b, Config{
 		Pins:   PinConfig{A: "1", B: "2", PWM: "3"},
 		MaxRPM: maxRPM, PWMFreq: 4000,
-	}, mc, logger)
+	}, mc.Name, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	t.Run("motor (A/B/PWM) Off testing", func(t *testing.T) {
@@ -139,7 +139,8 @@ func TestMotorDirPWM(t *testing.T) {
 	mc := config.Component{}
 
 	t.Run("motor (DIR/PWM) initialization errors", func(t *testing.T) {
-		m, err := NewMotor(b, Config{Pins: PinConfig{Direction: "1", EnablePinLow: "2", PWM: "3"}, PWMFreq: 4000}, mc, logger)
+		m, err := NewMotor(b, Config{Pins: PinConfig{Direction: "1", EnablePinLow: "2", PWM: "3"}, PWMFreq: 4000},
+			mc.Name, logger)
 
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, m.GoFor(ctx, 50, 10, nil), test.ShouldBeError, errors.New("not supported, define max_rpm attribute != 0"))
@@ -147,7 +148,7 @@ func TestMotorDirPWM(t *testing.T) {
 		_, err = NewMotor(
 			b,
 			Config{Pins: PinConfig{Direction: "1", EnablePinLow: "2", PWM: "3"}, MaxPowerPct: 100, PWMFreq: 4000},
-			mc, logger,
+			mc.Name, logger,
 		)
 		test.That(t, err, test.ShouldBeError, errors.New("max_power_pct must be between 0.06 and 1.0"))
 	})
@@ -155,7 +156,7 @@ func TestMotorDirPWM(t *testing.T) {
 	m, err := NewMotor(b, Config{
 		Pins:   PinConfig{Direction: "1", EnablePinLow: "2", PWM: "3"},
 		MaxRPM: maxRPM, PWMFreq: 4000,
-	}, mc, logger)
+	}, mc.Name, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	t.Run("motor (DIR/PWM) Off testing", func(t *testing.T) {
@@ -221,7 +222,7 @@ func TestMotorAB(t *testing.T) {
 	m, err := NewMotor(b, Config{
 		Pins:   PinConfig{A: "1", B: "2", EnablePinLow: "3"},
 		MaxRPM: maxRPM, PWMFreq: 4000,
-	}, mc, logger)
+	}, mc.Name, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	t.Run("motor (A/B) On testing", func(t *testing.T) {
@@ -292,7 +293,7 @@ func TestMotorABNoEncoder(t *testing.T) {
 	m, err := NewMotor(b, Config{
 		Pins:    PinConfig{A: "1", B: "2", EnablePinLow: "3"},
 		PWMFreq: 4000,
-	}, mc, logger)
+	}, mc.Name, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	t.Run("motor no encoder GoFor testing", func(t *testing.T) {

From 0b56b5c611f2cf17df902ef883dae84247a12539 Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Tue, 20 Dec 2022 16:10:04 -0500
Subject: [PATCH 15/18] newMotor name as string

---
 .../motor/dimensionengineering/sabertooth.go  |  6 ++--
 components/motor/dmc4000/dmc.go               |  6 ++--
 components/motor/fake/motor.go                |  6 ++--
 components/motor/gpio/basic.go                |  5 ++-
 components/motor/gpio/setup.go                |  2 +-
 components/motor/gpiostepper/gpiostepper.go   |  9 +++--
 .../motor/gpiostepper/gpiostepper_test.go     | 10 +++---
 components/motor/i2cmotors/ezopmp.go          | 35 +++++++++----------
 .../motor/tmcstepper/stepper_motor_tmc.go     |  9 +++--
 9 files changed, 42 insertions(+), 46 deletions(-)

diff --git a/components/motor/dimensionengineering/sabertooth.go b/components/motor/dimensionengineering/sabertooth.go
index bc7291479cc..8dc6d7891b1 100644
--- a/components/motor/dimensionengineering/sabertooth.go
+++ b/components/motor/dimensionengineering/sabertooth.go
@@ -130,7 +130,7 @@ func init() {
 			if !ok {
 				return nil, rdkutils.NewUnexpectedTypeError(conf, config.ConvertedAttributes)
 			}
-			return NewMotor(ctx, conf, config, logger)
+			return NewMotor(ctx, conf, config.Name, logger)
 		},
 	}
 	registry.RegisterComponent(motor.Subtype, modelName, _motor)
@@ -219,7 +219,7 @@ func (cfg *Config) validateValues() error {
 }
 
 // NewMotor returns a Sabertooth driven motor.
-func NewMotor(ctx context.Context, c *Config, mc config.Component, logger golog.Logger) (motor.LocalMotor, error) {
+func NewMotor(ctx context.Context, c *Config, name string, logger golog.Logger) (motor.LocalMotor, error) {
 	globalMu.Lock()
 	defer globalMu.Unlock()
 
@@ -260,7 +260,7 @@ func NewMotor(ctx context.Context, c *Config, mc config.Component, logger golog.
 		dirFlip:     c.DirectionFlip,
 		minPowerPct: c.MinPowerPct,
 		maxPowerPct: c.MaxPowerPct,
-		motorName:   mc.Name,
+		motorName:   name,
 	}
 
 	if err := m.configure(c); err != nil {
diff --git a/components/motor/dmc4000/dmc.go b/components/motor/dmc4000/dmc.go
index 2035b74822f..b696b702226 100644
--- a/components/motor/dmc4000/dmc.go
+++ b/components/motor/dmc4000/dmc.go
@@ -91,7 +91,7 @@ func init() {
 
 	_motor := registry.Component{
 		Constructor: func(ctx context.Context, _ registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
-			return NewMotor(ctx, config.ConvertedAttributes.(*Config), config, logger)
+			return NewMotor(ctx, config.ConvertedAttributes.(*Config), config.Name, logger)
 		},
 	}
 	registry.RegisterComponent(motor.Subtype, modelName, _motor)
@@ -115,7 +115,7 @@ func init() {
 }
 
 // NewMotor returns a DMC4000 driven motor.
-func NewMotor(ctx context.Context, c *Config, mc config.Component, logger golog.Logger) (motor.LocalMotor, error) {
+func NewMotor(ctx context.Context, c *Config, name string, logger golog.Logger) (motor.LocalMotor, error) {
 	if c.SerialDevice == "" {
 		devs := usb.Search(usbFilter, func(vendorID, productID int) bool {
 			if vendorID == 0x403 && productID == 0x6001 {
@@ -168,7 +168,7 @@ func NewMotor(ctx context.Context, c *Config, mc config.Component, logger golog.
 		MaxAcceleration:  c.MaxAcceleration,
 		HomeRPM:          c.HomeRPM,
 		powerPct:         0.0,
-		motorName:        mc.Name,
+		motorName:        name,
 	}
 
 	if m.MaxRPM <= 0 {
diff --git a/components/motor/fake/motor.go b/components/motor/fake/motor.go
index ebd8175ea99..25a4f1dc60f 100644
--- a/components/motor/fake/motor.go
+++ b/components/motor/fake/motor.go
@@ -321,7 +321,7 @@ func (m *Motor) GoTo(ctx context.Context, rpm, pos float64, extra map[string]int
 
 // GoTillStop always returns an error.
 func (m *Motor) GoTillStop(ctx context.Context, rpm float64, stopFunc func(ctx context.Context) bool) error {
-	return errors.New("not supported")
+	return motor.NewGoTillStopUnsupportedError(m.Name)
 }
 
 // ResetZeroPosition resets the zero position.
@@ -336,7 +336,7 @@ func (m *Motor) ResetZeroPosition(ctx context.Context, offset float64, extra map
 
 	err := m.Encoder.Reset(ctx, int64(offset*float64(m.TicksPerRotation)), extra)
 	if err != nil {
-		return err
+		return errors.Wrapf(err, "error in ResetZeroPosition from motor (%s)", m.Name)
 	}
 
 	return nil
@@ -352,7 +352,7 @@ func (m *Motor) Stop(ctx context.Context, extra map[string]interface{}) error {
 	if m.Encoder != nil {
 		err := m.Encoder.SetSpeed(ctx, 0.0)
 		if err != nil {
-			return err
+			return errors.Wrapf(err, "error in Stop from motor (%s)", m.Name)
 		}
 	}
 	return nil
diff --git a/components/motor/gpio/basic.go b/components/motor/gpio/basic.go
index 967f5b198ae..f9fa793f758 100644
--- a/components/motor/gpio/basic.go
+++ b/components/motor/gpio/basic.go
@@ -12,13 +12,12 @@ import (
 	"go.viam.com/rdk/components/board"
 	"go.viam.com/rdk/components/generic"
 	"go.viam.com/rdk/components/motor"
-	"go.viam.com/rdk/config"
 	"go.viam.com/rdk/operation"
 )
 
 // NewMotor constructs a new GPIO based motor on the given board using the
 // given configuration.
-func NewMotor(b board.Board, mc Config, c config.Component, logger golog.Logger) (motor.Motor, error) {
+func NewMotor(b board.Board, mc Config, name string, logger golog.Logger) (motor.Motor, error) {
 	if mc.MaxPowerPct == 0 {
 		mc.MaxPowerPct = 1.0
 	}
@@ -41,7 +40,7 @@ func NewMotor(b board.Board, mc Config, c config.Component, logger golog.Logger)
 		maxRPM:      mc.MaxRPM,
 		dirFlip:     mc.DirectionFlip,
 		logger:      logger,
-		motorName:   c.Name,
+		motorName:   name,
 	}
 
 	if mc.Pins.A != "" {
diff --git a/components/motor/gpio/setup.go b/components/motor/gpio/setup.go
index baa6a4957a1..f72592034a8 100644
--- a/components/motor/gpio/setup.go
+++ b/components/motor/gpio/setup.go
@@ -70,7 +70,7 @@ func init() {
 				return nil, err
 			}
 
-			m, err := NewMotor(actualBoard, *motorConfig, config, logger)
+			m, err := NewMotor(actualBoard, *motorConfig, config.Name, logger)
 			if err != nil {
 				return nil, err
 			}
diff --git a/components/motor/gpiostepper/gpiostepper.go b/components/motor/gpiostepper/gpiostepper.go
index b6bcdefd537..6af9875e004 100644
--- a/components/motor/gpiostepper/gpiostepper.go
+++ b/components/motor/gpiostepper/gpiostepper.go
@@ -58,7 +58,7 @@ func init() {
 				return nil, err
 			}
 
-			return newGPIOStepper(ctx, actualBoard, *motorConfig, config, logger)
+			return newGPIOStepper(ctx, actualBoard, *motorConfig, config.Name, logger)
 		},
 	}
 	registry.RegisterComponent(motor.Subtype, modelName, _motor)
@@ -88,9 +88,8 @@ func getBoardFromRobotConfig(deps registry.Dependencies, config config.Component
 	return b, motorConfig, nil
 }
 
-func newGPIOStepper(ctx context.Context, b board.Board, mc Config, c config.Component,
-	logger golog.Logger,
-) (motor.Motor, error) {
+func newGPIOStepper(ctx context.Context, b board.Board, mc Config, name string,
+	logger golog.Logger) (motor.Motor, error) {
 	if mc.TicksPerRotation == 0 {
 		return nil, errors.New("expected ticks_per_rotation in config for motor")
 	}
@@ -100,7 +99,7 @@ func newGPIOStepper(ctx context.Context, b board.Board, mc Config, c config.Comp
 		stepsPerRotation: mc.TicksPerRotation,
 		stepperDelay:     mc.StepperDelay,
 		logger:           logger,
-		motorName:        c.Name,
+		motorName:        name,
 	}
 
 	if mc.Pins.EnablePinHigh != "" {
diff --git a/components/motor/gpiostepper/gpiostepper_test.go b/components/motor/gpiostepper/gpiostepper_test.go
index f109d5f5408..a8ba5024dc1 100644
--- a/components/motor/gpiostepper/gpiostepper_test.go
+++ b/components/motor/gpiostepper/gpiostepper_test.go
@@ -25,29 +25,29 @@ func Test1(t *testing.T) {
 
 	// Create motor with no board and default config
 	t.Run("gpiostepper initializing test with no board and default config", func(t *testing.T) {
-		_, err := newGPIOStepper(ctx, nil, mc, c, logger)
+		_, err := newGPIOStepper(ctx, nil, mc, c.Name, logger)
 		test.That(t, err, test.ShouldNotBeNil)
 	})
 
 	// Create motor with board and default config
 	t.Run("gpiostepper initializing test with board and default config", func(t *testing.T) {
-		_, err := newGPIOStepper(ctx, b, mc, c, logger)
+		_, err := newGPIOStepper(ctx, b, mc, c.Name, logger)
 		test.That(t, err, test.ShouldNotBeNil)
 	})
 
 	mc.Pins = PinConfig{Direction: "b"}
 
-	_, err := newGPIOStepper(ctx, b, mc, c, logger)
+	_, err := newGPIOStepper(ctx, b, mc, c.Name, logger)
 	test.That(t, err, test.ShouldNotBeNil)
 
 	mc.Pins.Step = "c"
 
-	_, err = newGPIOStepper(ctx, b, mc, c, logger)
+	_, err = newGPIOStepper(ctx, b, mc, c.Name, logger)
 	test.That(t, err, test.ShouldNotBeNil)
 
 	mc.TicksPerRotation = 200
 
-	mm, err := newGPIOStepper(ctx, b, mc, c, logger)
+	mm, err := newGPIOStepper(ctx, b, mc, c.Name, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	m := mm.(*gpioStepper)
diff --git a/components/motor/i2cmotors/ezopmp.go b/components/motor/i2cmotors/ezopmp.go
index 53cd699aafa..f134ba31d25 100644
--- a/components/motor/i2cmotors/ezopmp.go
+++ b/components/motor/i2cmotors/ezopmp.go
@@ -59,7 +59,7 @@ const modelName = "ezopmp"
 func init() {
 	_motor := registry.Component{
 		Constructor: func(ctx context.Context, deps registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
-			return NewMotor(ctx, deps, config.ConvertedAttributes.(*AttrConfig), config, logger)
+			return NewMotor(ctx, deps, config.ConvertedAttributes.(*AttrConfig), config.Name, logger)
 		},
 	}
 	registry.RegisterComponent(motor.Subtype, modelName, _motor)
@@ -81,7 +81,7 @@ func init() {
 
 // Ezopmp represents a motor connected via the I2C protocol.
 type Ezopmp struct {
-	name        string
+	motorName   string
 	board       board.Board
 	bus         board.I2C
 	I2CAddress  byte
@@ -104,9 +104,8 @@ const (
 )
 
 // NewMotor returns a motor(Ezopmp) with I2C protocol.
-func NewMotor(ctx context.Context, deps registry.Dependencies, c *AttrConfig, cfg config.Component,
-	logger golog.Logger,
-) (motor.LocalMotor, error) {
+func NewMotor(ctx context.Context, deps registry.Dependencies, c *AttrConfig, name string,
+	logger golog.Logger) (motor.LocalMotor, error) {
 	b, err := board.FromDependencies(deps, c.BoardName)
 	if err != nil {
 		return nil, err
@@ -129,7 +128,7 @@ func NewMotor(ctx context.Context, deps registry.Dependencies, c *AttrConfig, cf
 		logger:      logger,
 		maxPowerPct: 1.0,
 		powerPct:    0.0,
-		name:        cfg.Name,
+		motorName:   name,
 	}
 
 	flowRate, err := m.findMaxFlowRate(ctx)
@@ -287,15 +286,15 @@ func (m *Ezopmp) GoFor(ctx context.Context, mLPerMin, mins float64, extra map[st
 
 	switch speed := math.Abs(mLPerMin); {
 	case speed < 0.5:
-		return errors.Errorf("motor (%s) cannot move this slowly", m.name)
+		return errors.Errorf("motor (%s) cannot move this slowly", m.motorName)
 	case speed > m.maxFlowRate:
-		return errors.Errorf("max continuous flow rate of motor (%s) is: %f", m.name, m.maxFlowRate)
+		return errors.Errorf("max continuous flow rate of motor (%s) is: %f", m.motorName, m.maxFlowRate)
 	}
 
 	commandString := "DC," + strconv.FormatFloat(mLPerMin, 'f', -1, 64) + "," + strconv.FormatFloat(mins, 'f', -1, 64)
 	command := []byte(commandString)
 	if err := m.writeRegWithCheck(ctx, command); err != nil {
-		return errors.Wrapf(err, "error in GoFor from motor (%s)", m.name)
+		return errors.Wrapf(err, "error in GoFor from motor (%s)", m.motorName)
 	}
 
 	return m.opMgr.WaitTillNotPowered(ctx, time.Millisecond, m, m.Stop)
@@ -306,15 +305,15 @@ func (m *Ezopmp) GoFor(ctx context.Context, mLPerMin, mins float64, extra map[st
 func (m *Ezopmp) GoTo(ctx context.Context, mLPerMin, mins float64, extra map[string]interface{}) error {
 	switch speed := math.Abs(mLPerMin); {
 	case speed < 0.5:
-		return errors.Errorf("motor (%s) cannot move this slowly", m.name)
+		return errors.Errorf("motor (%s) cannot move this slowly", m.motorName)
 	case speed > 105:
-		return errors.Errorf("motor (%s) cannot move this fast", m.name)
+		return errors.Errorf("motor (%s) cannot move this fast", m.motorName)
 	}
 
 	commandString := "D," + strconv.FormatFloat(mLPerMin, 'f', -1, 64) + "," + strconv.FormatFloat(mins, 'f', -1, 64)
 	command := []byte(commandString)
 	if err := m.writeRegWithCheck(ctx, command); err != nil {
-		return errors.Wrapf(err, "error in GoTo from motor (%s)", m.name)
+		return errors.Wrapf(err, "error in GoTo from motor (%s)", m.motorName)
 	}
 	return m.opMgr.WaitTillNotPowered(ctx, time.Millisecond, m, m.Stop)
 }
@@ -330,11 +329,11 @@ func (m *Ezopmp) Position(ctx context.Context, extra map[string]interface{}) (fl
 	command := []byte(totVolDispensed)
 	writeErr := m.writeReg(ctx, command)
 	if writeErr != nil {
-		return 0, errors.Wrapf(writeErr, "error in Position from motor (%s)", m.name)
+		return 0, errors.Wrapf(writeErr, "error in Position from motor (%s)", m.motorName)
 	}
 	val, err := m.readReg(ctx)
 	if err != nil {
-		return 0, errors.Wrapf(err, "error in Position from motor (%s)", m.name)
+		return 0, errors.Wrapf(err, "error in Position from motor (%s)", m.motorName)
 	}
 	splitMsg := strings.Split(string(val), ",")
 	floatVal, err := strconv.ParseFloat(splitMsg[1], 64)
@@ -366,18 +365,18 @@ func (m *Ezopmp) IsPowered(ctx context.Context, extra map[string]interface{}) (b
 	command := []byte(dispenseStatus)
 	writeErr := m.writeReg(ctx, command)
 	if writeErr != nil {
-		return false, 0, errors.Wrapf(writeErr, "error in IsPowered from motor (%s)", m.name)
+		return false, 0, errors.Wrapf(writeErr, "error in IsPowered from motor (%s)", m.motorName)
 	}
 	val, err := m.readReg(ctx)
 	if err != nil {
-		return false, 0, errors.Wrapf(err, "error in IsPowered from motor (%s)", m.name)
+		return false, 0, errors.Wrapf(err, "error in IsPowered from motor (%s)", m.motorName)
 	}
 
 	splitMsg := strings.Split(string(val), ",")
 
 	pumpStatus, err := strconv.ParseFloat(splitMsg[2], 64)
 	if err != nil {
-		return false, 0, errors.Wrapf(err, "error in IsPowered from motor (%s)", m.name)
+		return false, 0, errors.Wrapf(err, "error in IsPowered from motor (%s)", m.motorName)
 	}
 
 	if pumpStatus == 1 || pumpStatus == -1 {
@@ -388,5 +387,5 @@ func (m *Ezopmp) IsPowered(ctx context.Context, extra map[string]interface{}) (b
 
 // GoTillStop is unimplemented.
 func (m *Ezopmp) GoTillStop(ctx context.Context, rpm float64, stopFunc func(ctx context.Context) bool) error {
-	return motor.NewGoTillStopUnsupportedError(m.name)
+	return motor.NewGoTillStopUnsupportedError(m.motorName)
 }
diff --git a/components/motor/tmcstepper/stepper_motor_tmc.go b/components/motor/tmcstepper/stepper_motor_tmc.go
index 45897b0ee3a..3d8f281e509 100644
--- a/components/motor/tmcstepper/stepper_motor_tmc.go
+++ b/components/motor/tmcstepper/stepper_motor_tmc.go
@@ -71,7 +71,7 @@ const (
 func init() {
 	_motor := registry.Component{
 		Constructor: func(ctx context.Context, deps registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
-			return NewMotor(ctx, deps, *config.ConvertedAttributes.(*TMC5072Config), config, logger)
+			return NewMotor(ctx, deps, *config.ConvertedAttributes.(*TMC5072Config), config.Name, logger)
 		},
 	}
 	registry.RegisterComponent(motor.Subtype, modelname, _motor)
@@ -152,9 +152,8 @@ const (
 )
 
 // NewMotor returns a TMC5072 driven motor.
-func NewMotor(ctx context.Context, deps registry.Dependencies, c TMC5072Config, mc config.Component,
-	logger golog.Logger,
-) (motor.LocalMotor, error) {
+func NewMotor(ctx context.Context, deps registry.Dependencies, c TMC5072Config, name string,
+	logger golog.Logger) (motor.LocalMotor, error) {
 	b, err := board.FromDependencies(deps, c.BoardName)
 	if err != nil {
 		return nil, errors.Errorf("%q is not a board", c.BoardName)
@@ -193,7 +192,7 @@ func NewMotor(ctx context.Context, deps registry.Dependencies, c TMC5072Config,
 		maxAcc:      c.MaxAcceleration,
 		fClk:        baseClk / c.CalFactor,
 		logger:      logger,
-		motorName:   mc.Name,
+		motorName:   name,
 	}
 
 	rawMaxAcc := m.rpmsToA(m.maxAcc)

From 4b164c338b768963b1068234b385df81fc5fde72 Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Tue, 20 Dec 2022 16:23:08 -0500
Subject: [PATCH 16/18] rest of the commits

---
 components/motor/gpiostepper/gpiostepper.go      | 3 ++-
 components/motor/i2cmotors/ezopmp.go             | 3 ++-
 components/motor/tmcstepper/stepper_motor_tmc.go | 3 ++-
 3 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/components/motor/gpiostepper/gpiostepper.go b/components/motor/gpiostepper/gpiostepper.go
index 6af9875e004..095723074c4 100644
--- a/components/motor/gpiostepper/gpiostepper.go
+++ b/components/motor/gpiostepper/gpiostepper.go
@@ -89,7 +89,8 @@ func getBoardFromRobotConfig(deps registry.Dependencies, config config.Component
 }
 
 func newGPIOStepper(ctx context.Context, b board.Board, mc Config, name string,
-	logger golog.Logger) (motor.Motor, error) {
+	logger golog.Logger,
+) (motor.Motor, error) {
 	if mc.TicksPerRotation == 0 {
 		return nil, errors.New("expected ticks_per_rotation in config for motor")
 	}
diff --git a/components/motor/i2cmotors/ezopmp.go b/components/motor/i2cmotors/ezopmp.go
index f134ba31d25..1680e03e394 100644
--- a/components/motor/i2cmotors/ezopmp.go
+++ b/components/motor/i2cmotors/ezopmp.go
@@ -105,7 +105,8 @@ const (
 
 // NewMotor returns a motor(Ezopmp) with I2C protocol.
 func NewMotor(ctx context.Context, deps registry.Dependencies, c *AttrConfig, name string,
-	logger golog.Logger) (motor.LocalMotor, error) {
+	logger golog.Logger,
+) (motor.LocalMotor, error) {
 	b, err := board.FromDependencies(deps, c.BoardName)
 	if err != nil {
 		return nil, err
diff --git a/components/motor/tmcstepper/stepper_motor_tmc.go b/components/motor/tmcstepper/stepper_motor_tmc.go
index 3d8f281e509..1cf4999769e 100644
--- a/components/motor/tmcstepper/stepper_motor_tmc.go
+++ b/components/motor/tmcstepper/stepper_motor_tmc.go
@@ -153,7 +153,8 @@ const (
 
 // NewMotor returns a TMC5072 driven motor.
 func NewMotor(ctx context.Context, deps registry.Dependencies, c TMC5072Config, name string,
-	logger golog.Logger) (motor.LocalMotor, error) {
+	logger golog.Logger,
+) (motor.LocalMotor, error) {
 	b, err := board.FromDependencies(deps, c.BoardName)
 	if err != nil {
 		return nil, errors.Errorf("%q is not a board", c.BoardName)

From d0f9d72eb5109c7b05710d5ec007d18beee0f583 Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Wed, 21 Dec 2022 11:26:43 -0500
Subject: [PATCH 17/18] Adding name to tests and a few tests for errors

---
 components/motor/gpio/basic_test.go           | 24 +++++++++++++++----
 .../motor/gpiostepper/gpiostepper_test.go     |  4 +++-
 2 files changed, 23 insertions(+), 5 deletions(-)

diff --git a/components/motor/gpio/basic_test.go b/components/motor/gpio/basic_test.go
index 442de62ad00..e5a12e18dc7 100644
--- a/components/motor/gpio/basic_test.go
+++ b/components/motor/gpio/basic_test.go
@@ -23,7 +23,9 @@ func TestMotorABPWM(t *testing.T) {
 	b := &fakeboard.Board{GPIOPins: map[string]*fakeboard.GPIOPin{}}
 	logger := golog.NewTestLogger(t)
 
-	mc := config.Component{}
+	mc := config.Component{
+		Name: "abc",
+	}
 
 	t.Run("motor (A/B/PWM) initialization errors", func(t *testing.T) {
 		m, err := NewMotor(b, Config{
@@ -136,7 +138,9 @@ func TestMotorDirPWM(t *testing.T) {
 	b := &fakeboard.Board{GPIOPins: map[string]*fakeboard.GPIOPin{}}
 	logger := golog.NewTestLogger(t)
 
-	mc := config.Component{}
+	mc := config.Component{
+		Name: "fake_motor",
+	}
 
 	t.Run("motor (DIR/PWM) initialization errors", func(t *testing.T) {
 		m, err := NewMotor(b, Config{Pins: PinConfig{Direction: "1", EnablePinLow: "2", PWM: "3"}, PWMFreq: 4000},
@@ -217,7 +221,9 @@ func TestMotorAB(t *testing.T) {
 	ctx := context.Background()
 	b := &fakeboard.Board{GPIOPins: map[string]*fakeboard.GPIOPin{}}
 	logger := golog.NewTestLogger(t)
-	mc := config.Component{}
+	mc := config.Component{
+		Name: "fake_motor",
+	}
 
 	m, err := NewMotor(b, Config{
 		Pins:   PinConfig{A: "1", B: "2", EnablePinLow: "3"},
@@ -288,7 +294,9 @@ func TestMotorABNoEncoder(t *testing.T) {
 	ctx := context.Background()
 	b := &fakeboard.Board{GPIOPins: map[string]*fakeboard.GPIOPin{}}
 	logger := golog.NewTestLogger(t)
-	mc := config.Component{}
+	mc := config.Component{
+		Name: "fake_motor",
+	}
 
 	m, err := NewMotor(b, Config{
 		Pins:    PinConfig{A: "1", B: "2", EnablePinLow: "3"},
@@ -299,6 +307,14 @@ func TestMotorABNoEncoder(t *testing.T) {
 	t.Run("motor no encoder GoFor testing", func(t *testing.T) {
 		test.That(t, m.GoFor(ctx, 50, 10, nil), test.ShouldBeError, errors.New("not supported, define max_rpm attribute != 0"))
 	})
+
+	t.Run("motor no encoder GoTo testing", func(t *testing.T) {
+		test.That(t, m.GoTo(ctx, 50, 10, nil), test.ShouldBeError, errors.New("motor with name fake_motor does not support GoTo"))
+	})
+
+	t.Run("motor no encoder ResetZeroPosition testing", func(t *testing.T) {
+		test.That(t, m.ResetZeroPosition(ctx, 5.0001, nil), test.ShouldBeError, errors.New("motor with name fake_motor does not support ResetZeroPosition"))
+	})
 }
 
 func TestGoForMath(t *testing.T) {
diff --git a/components/motor/gpiostepper/gpiostepper_test.go b/components/motor/gpiostepper/gpiostepper_test.go
index a8ba5024dc1..7a07866ceb1 100644
--- a/components/motor/gpiostepper/gpiostepper_test.go
+++ b/components/motor/gpiostepper/gpiostepper_test.go
@@ -21,7 +21,9 @@ func Test1(t *testing.T) {
 	b := &fakeboard.Board{GPIOPins: make(map[string]*fakeboard.GPIOPin)}
 
 	mc := Config{}
-	c := config.Component{}
+	c := config.Component{
+		Name: "fake_gpiostepper",
+	}
 
 	// Create motor with no board and default config
 	t.Run("gpiostepper initializing test with no board and default config", func(t *testing.T) {

From ac2ccae4e4e9ca5b51601420236853bb7256568d Mon Sep 17 00:00:00 2001
From: Susmita Sanyal <susmita@viam.com>
Date: Wed, 21 Dec 2022 11:29:36 -0500
Subject: [PATCH 18/18] lint

---
 components/motor/gpio/basic_test.go | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/components/motor/gpio/basic_test.go b/components/motor/gpio/basic_test.go
index e5a12e18dc7..18c0a672c03 100644
--- a/components/motor/gpio/basic_test.go
+++ b/components/motor/gpio/basic_test.go
@@ -313,7 +313,8 @@ func TestMotorABNoEncoder(t *testing.T) {
 	})
 
 	t.Run("motor no encoder ResetZeroPosition testing", func(t *testing.T) {
-		test.That(t, m.ResetZeroPosition(ctx, 5.0001, nil), test.ShouldBeError, errors.New("motor with name fake_motor does not support ResetZeroPosition"))
+		test.That(t, m.ResetZeroPosition(ctx, 5.0001, nil), test.ShouldBeError,
+			errors.New("motor with name fake_motor does not support ResetZeroPosition"))
 	})
 }