feat: encoder linearity — evict the seam so a linear tick axis is finally true (#35)#40

Merged

OriNachum merged 15 commits into

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feat/encoder-linearity

Jul 12, 2026

Commits on Jul 12, 2026

feat(t9): wrist_roll soft limit whose dead arc contains the encoder seam

OriNachum
and
claude
committed
spike(t5): STS3215 offset register — GO-WITH-CAVEAT
OriNachum
committed
feat(t9b): enforce soft limits in the motion path — the dead arc is now unreachable

OriNachum
and
claude
committed
merge t9: wrist_roll soft limit whose dead arc contains the encoder seam
OriNachum
committed
merge t9b: enforce soft limits in the motion path — the dead arc is now unreachable
OriNachum
committed
feat(t7): STS3215 encoder-offset primitives (addr 31, sign-magnitude, EEPROM Lock dance)

OriNachum
and
claude
committed
merge t7: STS3215 encoder-offset primitives (addr 31, sign-magnitude, EEPROM Lock dance)
OriNachum
committed
feat(t8): arm rezero — evict the encoder seam from elbow_flex's travel

OriNachum
and
claude
committed
merge t8: arm rezero — evict the encoder seam from elbow_flex's travel
OriNachum
committed
feat: encoder linearity — evict the seam so a linear tick axis is finally TRUE (v0.21.0)

OriNachum
and
claude
committed
refactor(sonar): hoist the port placeholder; merge an implicitly concatenated f-string

OriNachum
and
claude
committed
fix(rezero): a latched motor can still be re-zeroed — clear the overload before planning
OriNachum
committed
merge: a latched motor can still be re-zeroed (qodo #40)
OriNachum
committed
merge main (v0.20.1, arm profile) into encoder linearity

OriNachum
and
claude
committed
fix(changelog): blank lines around the merged 0.21.0 section (MD032/MD022)

OriNachum
and
claude
committed

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feat: encoder linearity — evict the seam so a linear tick axis is finally true (#35)#40

feat: encoder linearity — evict the seam so a linear tick axis is finally true (#35)#40
OriNachum merged 15 commits into
mainfrom
feat/encoder-linearity

Commits on Jul 12, 2026

feat(t9): wrist_roll soft limit whose dead arc contains the encoder seam

spike(t5): STS3215 offset register — GO-WITH-CAVEAT

feat(t9b): enforce soft limits in the motion path — the dead arc is now unreachable

merge t9: wrist_roll soft limit whose dead arc contains the encoder seam

merge t9b: enforce soft limits in the motion path — the dead arc is now unreachable

feat(t7): STS3215 encoder-offset primitives (addr 31, sign-magnitude, EEPROM Lock dance)

merge t7: STS3215 encoder-offset primitives (addr 31, sign-magnitude, EEPROM Lock dance)

feat(t8): arm rezero — evict the encoder seam from elbow_flex's travel

merge t8: arm rezero — evict the encoder seam from elbow_flex's travel

feat: encoder linearity — evict the seam so a linear tick axis is finally TRUE (v0.21.0)

refactor(sonar): hoist the port placeholder; merge an implicitly concatenated f-string

fix(rezero): a latched motor can still be re-zeroed — clear the overload before planning

merge: a latched motor can still be re-zeroed (qodo #40)

merge main (v0.20.1, arm profile) into encoder linearity

fix(changelog): blank lines around the merged 0.21.0 section (MD032/MD022)