Uncommitted work from the speed-model + peer-motion investigation:
- btl4mppr.cpp: the L4MechControlsMapper full-throttle detent used the
unparenthesized Abs() macro (STYLE.H:118) on an expression -- Abs(throttlePos
- 1.0f) mis-expands to -(throttlePos + 1.0f), always <= 0.05, so the detent
snapped throttle to full EVERY frame. Diff into a temp first (same class as
the 7615ecd angular-resync Abs fix).
- context/pod-hardware.md: document the decomp-verified analog-continuous pod
throttle path (RIO Ranger 0-800 counts, 0.05 deadband, no notching; '5 speeds'
is false) from workflow w0odszxro.
- mech4.cpp: BT_SLIDE/[mslide] per-frame slide diagnostics (peer position moving
while legs in stand; master decel profile) -- used to prove the stop-slide is a
peer leg-SM-winds-down-early desync, not master momentum. Env-gated.
The 'pretty good' coupled-motion gameplay state is already shipped (a9ab3db).
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
