diff --git a/utils/benchmarking/benchmark-results.md b/utils/benchmarking/benchmark-results.md
new file mode 100644
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+++ b/utils/benchmarking/benchmark-results.md
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+# Historical I/O benchmark results
+
+Procedure: Use an EV3. Disconnect all peripherals, including Wi-Fi. Connect one large EV3 motor. Cold-boot the EV3 and
+leave it for around five minutes to make sure all services have loaded. Execute `io-benchmark.sh` from the Brickman
+interface. Then grab the `benchmark.txt` file from the same directory.
+
+TODO: instructions for installing from sources with Makefile?
+
+## `2.1.0` release
+System info:
+```
+Image file:         ev3dev-stretch-ev3-generic-2019-05-29
+Kernel version:     4.14.117-ev3dev-2.3.4-ev3
+Brickman:           0.10.1
+BogoMIPS:           148.88
+Bluetooth:          
+Board:              board0
+BOARD_INFO_HW_REV=7
+BOARD_INFO_MODEL=LEGO MINDSTORMS EV3
+BOARD_INFO_ROM_REV=6
+BOARD_INFO_SERIAL_NUM=00165340720B
+BOARD_INFO_TYPE=main
+```
+
+Benchmark results:
+```
+Using interpreter python3; found ev3dev2 version 2.1.0 from /usr/lib/python3/dist-packages/ev3dev2
+Motor read address:
+1000 loops, best of 3: 970 usec per loop
+Motor read speed_sp:
+1000 loops, best of 3: 1.1 msec per loop
+Motor read count_per_rot (cached):
+1000 loops, best of 3: 215 usec per loop
+Motor write speed_sp:
+1000 loops, best of 3: 1.12 msec per loop
+Using interpreter micropython; found ev3dev2 version 2.1.0 from /usr/lib/micropython/ev3dev2
+Motor read address:
+1000 loops, best of 3: 1.21 msec per loop
+Motor read speed_sp:
+1000 loops, best of 3: 1.17 msec per loop
+Motor read count_per_rot (cached):
+10000 loops, best of 3: 144 usec per loop
+Motor write speed_sp:
+1000 loops, best of 3: 1.08 msec per loop
+```
\ No newline at end of file
diff --git a/utils/benchmarking/io-benchmark.sh b/utils/benchmarking/io-benchmark.sh
new file mode 100644
index 0000000..903e18a
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+++ b/utils/benchmarking/io-benchmark.sh
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+#!/bin/bash
+
+exec &> >(tee benchmark.txt)
+
+do_benchmark() {
+    PYTHON=$1
+
+    VERSION=$($PYTHON -c "import ev3dev2; print(ev3dev2.__version__)")
+    MODULE_PATH=$($PYTHON -c "import ev3dev2; print(ev3dev2.__path__[0] if isinstance(ev3dev2.__path__, list) else ev3dev2.__path__)")
+
+    echo "Using interpreter $PYTHON; found ev3dev2 version $VERSION from $MODULE_PATH"
+
+    echo "Motor read address:"
+    $PYTHON -m timeit -s "from ev3dev2.motor import Motor; m = Motor()" "m.address"
+    
+    echo "Motor read speed_sp:"
+    $PYTHON -m timeit -s "from ev3dev2.motor import Motor; m = Motor()" "m.speed_sp"
+
+    echo "Motor read count_per_rot (cached):"
+    $PYTHON -m timeit -s "from ev3dev2.motor import Motor; m = Motor()" "m.count_per_rot"
+    
+    echo "Motor write speed_sp:"
+    $PYTHON -m timeit -s "from ev3dev2.motor import Motor; m = Motor()" "m.speed_sp = 5"
+}
+
+do_benchmark python3
+do_benchmark micropython