MC phase test routine

This test can help to differentiate encoder problems from motor controller problems:

Try the same technique you used to calibrate the encoder, but use the left brake instead. The motor (wheel) should spin forward slowly and smoothly. This tests the phases of the MC w/o any encoder feedback. If this doesnt work, then the problem lies with the IGBT (or MC). If it does work, Then it is likely an encoder issue.
The fact that the wheel didnt spin during encoder calibration leads me to believe there is a phase problem. The test above will confirm.
BTW.. wheel must be off the ground.