Decomp workflow w0odszxro settled the speed model: the pod throttle was ANALOG-
CONTINUOUS (RIO Ranger, 800 ADC counts, 0.05 deadband; sole detent = snap-to-1.0
within 0.05 @004d196c). '5 speeds' is FALSE -- the 1-5 keys are MFD mode pages;
the 0..5 stepper is HUD/radar zoom. BONUS: throttleState@0x4a4 is a MISNOMER --
binary census proves it is the fall-contact surface material cache (0..7, init
2=Concrete), written only at knockdown; rename pending.
Empirical rule-outs (autonomous drive-sweep harness, this commit):
- Record density: with the clock guard + incremental heading in, a per-frame
continuous demand sweep measures IDENTICAL to constant throttle on position
evenness ([repljit]), render heading ([rendhdg]), and gait cadence ([gaitev]).
- Type-3 stomps: ~0 fire in sustained sweeps (only at launch) -- not the driver.
- The 0.05-grid keyboard publish experiment is retained env-gated OFF
(BT_GRID_LEVER) -- the ADC was ~continuous, so the grid is NOT authentic and
gains nothing measurable; default publish stays continuous (authentic).
New tooling: BT_DRIVE_SWEEP[0] (forced-drive triangle sweep, optional through-
zero), BT_FORCE_STEP (0.05-grid variant), BT_GAITEV (per-frame leg-clip advance
+ state-flip + demand-change stats), [t3rx] (type-3 stomp trace).
STATUS: user still reports visible speed-change glitches in interactive play;
all harness metrics saturate at baseline -- next step is probes ON the user's
interactive session (their eyes + instruments on the same run).
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
