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control mode: REPRODUCE the "centering fought my control" fight, and prove the fix in Sauron's config

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Follow-up to 4ccc2a7, which fixed the mechanism but could not reproduce the
field symptom.  His fuller wording -- the centering "FOUGHT" his control, not
"the torso died" -- is what cracked it.

WHY "FOUGHT" IS THE PRECISE SYMPTOM.  TorsoSimulation's frame order is
  1. digital twist commands   -> currentTwist += d;  recenterActive = 0
  2. centerCommand > 0        -> recenterActive = 1        (re-armed)
  3. analog twist axis != 0   -> currentTwist += d;  recenterActive = 0
  4. if (recenterActive)      -> Recenter(dt)              (drags toward 0)
Desktop/glass torso input is ANALOG (Q/E -> gBTTwistAxis -> stickPosition.x), so
with centerCommand stuck the torso HOLDS while you are actively pushing (step 3
clears the arm) and snaps back the instant you ease off (step 2's arm survives
into step 4).  You can only hold it off-centre by pushing continuously.  That is
"the centering fought my control", exactly.

WHY IT ONLY BITES THE GLASS/POD BUILD -- and why the first bench came back clean.
The ONLY caller of ClearRecenterCommand() sits INSIDE the desktop key-bridge
block, gated on `gBTDrive.forced || !BTRIODevicePresent()`.  With a RIO present
-- and on glass builds PadRIO IS the rioPointer -- the bridge is OFF and NOTHING
ever clears centerCommand, so one pass through Basic pins it at 1 for good.  A
plain desktop build clears it every frame and self-recovers.
The first modecycle.sh run needed BT_KEY_BRIDGE=1 to make the mode-cycle hook
run at all -- and that same flag switched on the only thing that clears the cell,
masking the bug under test.  The hook is now deliberately OUTSIDE that block so
the bench can run the RIO-present configuration.

MEASURED A/B, bridge OFF (Sauron's config), BT_TWIST_PULSE deflect/release:

                          LEGACY                      FIXED
  ctrCmd=1 samples        310  (latched for good)     0
  twist during RELEASE    decays 0.443->0,            HOLDS 2.44346
                          0.900->0.436  (recen=1)
  recen=1 samples         permanently armed           14 (one-shot per Basic
                                                      entry, then self-clears)

So the authentic one-shot re-centre still happens on entering Basic; it just
settles instead of fighting the pilot forever.

New bench hook BT_TWIST_PULSE=<n>: deflect the analog twist axis for n ticks
then RELEASE for n ticks, repeating.  BT_LOCK_SWEEP never releases, so it cannot
show this symptom at all -- the release window IS the measurement.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_018SgmXGNMXavXiafKXf9MDC
This commit is contained in:
Joe DiPrima
2026-08-08 13:59:39 -05:00
co-authored by Claude Opus 5
parent 4ccc2a7eec
commit 9657fbb11e
3 changed files with 48 additions and 18 deletions
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game/reconstructed/mechmppr.cpp
+23 -17
View File
@@ -704,6 +704,29 @@ void
// after the push, immediately before interpretation -- making the keyboard
// authoritative on the dev box. Interpretation below stays 100% authentic.
//
// BENCH (BT_MODECYCLE_EVERY=<n>): cycle the control mode every n
// InterpretControls calls, driving the SAME body the 'M' key and the pod
// console button (key 0x13d -- not a RIO button, so BT_BTNTEST cannot press
// it) drive. Dev-only; default off.
//
// ⚠ DELIBERATELY OUTSIDE the key-bridge block below. The ONLY caller of
// ClearRecenterCommand() lives inside that block, so forcing BT_KEY_BRIDGE=1
// to make this hook run would ALSO switch on the one thing that clears
// centerCommand -- masking the very bug under test. That is exactly how the
// first run of modecycle.sh came back clean. Keeping the hook out here lets
// the bench reproduce the RIO-present (glass/PadRIO) configuration, where the
// bridge is OFF and nothing clears the cell.
{
static const char *s_mcEvery = getenv("BT_MODECYCLE_EVERY");
if (s_mcEvery != 0)
{
static int s_mcN = 0;
int period = atoi(s_mcEvery);
if (period < 1) period = 300;
if (++s_mcN % period == 0)
CycleControlModeNow();
}
}
{
// STAND-DOWN (glass-cockpit step 2c): BT_KEY_BRIDGE unset = AUTO --
// the bridge runs only when NO live cockpit device (serial RIO /
@@ -868,23 +891,6 @@ void
gBTModeCycle = 0;
CycleControlModeNow();
}
// BENCH (BT_MODECYCLE_EVERY=<n>): cycle the control mode every n
// InterpretControls calls. mech4's BT_MODECYCLE_TEST hook sits in
// a scope whose frame counter did not advance in a solo run, and
// the pod's own route is console key 0x13d -- not a RIO button, so
// BT_BTNTEST cannot press it. This drives the SAME body the key
// and the console button drive. Dev-only; default off.
{
static const char *s_mcEvery = getenv("BT_MODECYCLE_EVERY");
if (s_mcEvery != 0)
{
static int s_mcN = 0;
int period = atoi(s_mcEvery);
if (period < 1) period = 300;
if (++s_mcN % period == 0)
CycleControlModeNow();
}
}
// Gitea #6: 'N' cycles the secondary screen's schematic
// (Damage -> Critical -> Heat) -- the same body the pod's
// status-info-center button message drives.