Clamp follow(path:) cruise speed to safety.max_speed - #58
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Pass a safety-clamped max_linear into Follow motion commands so trajectory tracking respects max_speed and zone caps, matching drive/execute on the interpreter path.
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Summary
follow(path:)now carries a safety-clamped cruise speed (default 0.5 m/s, reduced bymax_speed/ zone caps) through Rust and TS interpreter/simulator paths.Test plan
cargo test -p spanda-interpreter --test safety_clamp_runtimewheels.follow(path: …)undersafety { max_speed = 0.2 m/s; }shows linear ≤ 0.2Made with Cursor