The master-perf disasm (0x4aa3d3-0x4aa4ff) computes the yaw rate as
lerp(walkingTurnRate@0x574, runningTurnRate@0x578) by ground speed, not a
constant. Wired it into the drive, replacing the bring-up constant kDriveTurnRate:
- walkingTurnRate/runningTurnRate are now REAL named members. The ctor's
`Wword(0x15d)/(0x15e) = model->...TurnRate * DegreesToRadians` writes were
NO-OPS -- Wword() returns a shared static scratch cell, so the rates were
silently discarded. Now stored + read by name.
- The drive (mech4.cpp) computes authTurnRate: base = walkingTurnRate; above
reverseSpeedMax(0x538) lerp walk->run across [walkStride 0x534 .. topSpeed
0x34c] with an over-run falloff runningTurnRate/t^2; clamp >=0; zeroed in the
death/limbo/airborne leg states (1/2/3) or when deathAnimationLatched(0x650) is
set. Falls back to kDriveTurnRate if the model gave no rates.
The lerp is a RUN-speed refinement -- below reverseSpeedMax (walk / turn-in-place)
the rate is the constant walkTR base; runningTurnRate < walkingTurnRate (a running
mech is less maneuverable). Verified headless (DEV mech, BT_TURN_LOG): walkTR
1.309 rad/s (75 deg/s), runTR 0.873 (50 deg/s), turn-in-place + walk yaw at walkTR,
no crash. [T1 logic / T2 runtime]
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
