The turn-in-place dispatcher lives in the master-perf gap 0x4a9b5c-0x4ab188 that
Ghidra never lifted. Disassembled it with objdump (scratchpad/masterperf.asm) and
hand-decoded the real logic, replacing the two [T3] stand-ins I had invented:
- Entry gate was `commandedSpeed < 0.25*standSpeed` (a near-zero guess). AUTHENTIC
(0x4aa505): arm trn when TURNING (|angVel|>1e-4, port proxy = turnDemand deadband)
AND speed in the FULL [0, standSpeed] sub-walk range AND turnCapable. trn is gated
on TURNING, not on being slow.
- Case-4 exit had a ×4 fast-forward + SetLegAnimation(5) invention. Restored the
VERBATIM decompiled leg-SM exits (part_012.c:12013): standSpeed<spd or reverse ->
Standing, else advance the pivot. Added the master-perf turn-STOP exit (0x4aa5c6):
turn stopped -> Standing + legResetLatch=1 (folded into case 4 since the port has
no separate master-perf frame).
- Body case-4 twin mirrors the authentic exits (mj=0, tracks state for lockstep).
The fast-forward was invented to dodge a turn->walk stutter that was ACTUALLY the
body channel leaking joints (mj=1) -- already root-caused + fixed by mj=0. The
trn->walk seam (legFrm7 cycle-end -> swr legFrm1) is the authentic pose-matched
boundary and the same seam the fast-forward version hit, just at the correct release
speed. Also decoded (documented, not yet wired) the authentic turn-RATE lerp
(walkingTurnRate@0x574 -> runningTurnRate@0x578 by speed; angVel = turnDemand*rate);
the bring-up drive still yaws at the constant kDriveTurnRate.
Headless-verified (BT_AUTODRIVE/BT_FORCE_TURN/BT_WALK_DELAY/BT_GAIT_TRACE): turn-in-
place enters state 4, ramp past standSpeed -> 4->stand->swr->walk, both channels in
lockstep. Feel re-verification pending. [T1 logic / T2 runtime]
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
