Here the link to funny video test on a Viking MI422 drive motor
I use arduino mega to read the odometry 5V signal without the need of 2 voltage resistor but it's fully compatible with Teensy PCB
When bottle goes up the PWM pin is activate using a pwm signal to regulate the speed motor at 30rpm : sense near 200 mA
When bottle goes down the BRAKE pin is activate using pwn signal to regulate the speed motor at 30rpm : sense near 30 mA
I leave the system work for 1 hour: nothing heat on the driver and motor.