openbricks 2.6.0__tar.gz → 2.6.2__tar.gz

{openbricks-2.6.0 → openbricks-2.6.2}/CHANGELOG.md

@@ -3,6 +3,39 @@
 Versions the unified `openbricks` PyPI package (CLI + MuJoCo sim).
 Firmware versions are tracked separately on the `v*` tag namespace.
 
+## 2.6.2 — done requires standstill; per-axis settle diagnostics
+
+Bench (the twitch that survived 2.6.0, now measured): the final
+curve expired with a 94-wheel-deg tracking deficit; the robot
+stalled short, the landing walked it in — and done latched the
+moment POSITION was close, while the landing reference still
+carried speed, so the automatic then="coast" dispatch released the
+wheels mid-motion: stop, lurch, abrupt stop. Two fixes:
+
+* **pbio's standstill rule**: done additionally requires the
+  correction reference to be slow (<60 dps) — the missing half of
+  their on-target condition. Wheels are never released at speed.
+* **Diagnostics**: `db_settle_stats()` now reports per-axis —
+  (res_sum, res_diff, landings, integ_sum_dps, integ_diff_dps) at
+  profile expiry — and the landing count survives the stop dispatch
+  (2.6.1 kept the residual but wiped the count). The next bench
+  read says WHICH axis lags and what the integral was supplying.
+
+The 94-wheel-deg deficit itself (why the integral didn't absorb it
+during the approach) is the open root cause the new numbers will
+pin down. Both sides move: flash 2.6.2 AND `pipx upgrade
+openbricks`.
+
+## 2.6.1 — settle stats survive the stop dispatch
+
+`db_settle_stats()` read (0.0, 0) on every standard-path move:
+`done()` dispatches `stop()` before the user's move call returns,
+and the stop wiped the diagnostics with the rest of the move state
+— the instrument destroyed its own evidence (bench 2026-08-17,
+while chasing the end-of-run twitch). Expiry residual + landing
+count now reset only when the NEXT move arms; integrals and the
+landing budget still die with the move. Firmware-side: flash 2.6.1.
+
 ## 2.6.0 — PID + landing settle: no more end-of-move jerk
 
 Bench report: at the end of a mission the robot stopped, abruptly

{openbricks-2.6.0/openbricks.egg-info → openbricks-2.6.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openbricks
-Version: 2.6.0
+Version: 2.6.2
 Summary: openbricks — host-side CLI + MuJoCo-backed simulator for the openbricks MicroPython firmware. Flash, list, run, upload, log; ``openbricks sim`` for the physics simulator.
 Author: openbricks contributors
 License: MIT

{openbricks-2.6.0 → openbricks-2.6.2}/native/_shared/drivebase_core.c

@@ -61,6 +61,10 @@ void ob_drivebase_init(ob_drivebase_t *db,
     db->landing_active  = false;
     db->landing_best_err = 0.0;
     db->expiry_residual = 0.0;
+    db->expiry_res_sum = 0.0;
+    db->expiry_res_diff = 0.0;
+    db->expiry_integ_sum_dps = 0.0;
+    db->expiry_integ_diff_dps = 0.0;
     db->expiry_captured = false;
 }
 
@@ -76,6 +80,10 @@ static void db_move_state_reset(ob_drivebase_t *db) {
     db->landing_active  = false;
     db->landing_best_err = 0.0;
     db->expiry_residual = 0.0;
+    db->expiry_res_sum = 0.0;
+    db->expiry_res_diff = 0.0;
+    db->expiry_integ_sum_dps = 0.0;
+    db->expiry_integ_diff_dps = 0.0;
     db->expiry_captured = false;
 }
 
@@ -355,7 +363,20 @@ void ob_drivebase_stop(ob_drivebase_t *db) {
     db->turn_active = false;
     db->done        = true;
     db->settling    = false;
-    db_move_state_reset(db);
+    // Integrals and the landing budget die with the move — but NOT
+    // the settle diagnostics: done() dispatches stop() before the
+    // user's move call even returns, so wiping expiry stats here
+    // made db_settle_stats() read (0.0, 0) on every standard-path
+    // move (bench 2026-08-17 — the diagnostic destroyed its own
+    // evidence). Stats reset only when the NEXT move arms.
+    db->integ_sum      = 0.0;
+    db->integ_diff     = 0.0;
+    db->landing_active = false;
+    db->landing_best_err = 0.0;
+    // db->landings is DIAGNOSTIC state alongside expiry_residual —
+    // it survives the stop dispatch (bench read (94.4, 0): the
+    // landing count wiped while the residual survived) and resets
+    // at the next arm.
 }
 
 
@@ -510,8 +531,16 @@ void ob_drivebase_tick(ob_drivebase_t *db, long now_ms) {
         ob_float_t de_now = db->turn_hold - diff_pos;
         se_now = (se_now < 0) ? -se_now : se_now;
         de_now = (de_now < 0) ? -de_now : de_now;
+        // ...and pbio's STANDSTILL condition: the landing's own
+        // feed-forward must be slow before done may latch, or a
+        // plant crossing the window at speed gets its wheels
+        // released mid-motion by the then= dispatch.
+        ob_float_t vf = (fwd_ff_vel  < 0) ? -fwd_ff_vel  : fwd_ff_vel;
+        ob_float_t vt = (turn_ff_vel < 0) ? -turn_ff_vel : turn_ff_vel;
         if (se_now < (ob_float_t)OB_DRIVEBASE_DONE_TOL_WHEEL_DEG
-            && de_now < (ob_float_t)OB_DRIVEBASE_DONE_TOL_WHEEL_DEG) {
+            && de_now < (ob_float_t)OB_DRIVEBASE_DONE_TOL_WHEEL_DEG
+            && vf < (ob_float_t)OB_DRIVEBASE_ARRIVAL_SPEED_TOL_DPS
+            && vt < (ob_float_t)OB_DRIVEBASE_ARRIVAL_SPEED_TOL_DPS) {
             db->fwd_active     = false;
             db->turn_active    = false;
             db->landing_active = false;
@@ -573,6 +602,10 @@ void ob_drivebase_tick(ob_drivebase_t *db, long now_ms) {
             if (!db->expiry_captured) {
                 db->expiry_captured = true;
                 db->expiry_residual = worst;
+                db->expiry_res_sum  = se;
+                db->expiry_res_diff = de;
+                db->expiry_integ_sum_dps  = db->ki * db->integ_sum;
+                db->expiry_integ_diff_dps = db->ki * db->integ_diff;
             }
             // Landing settle (2.6.0): residual above arrival
             // tolerance gets a SHAPED mini-trajectory back to the
@@ -741,8 +774,14 @@ void ob_drivebase_gyro_frame_reset(ob_drivebase_t *db) {
 // took. The bench reads this to decide whether the integral gains
 // need another look — measured numbers, not guesses.
 void ob_drivebase_settle_stats(const ob_drivebase_t *db,
-                               ob_float_t *expiry_residual,
-                               int *landings) {
-    *expiry_residual = db->expiry_residual;
-    *landings        = (int)db->landings;
+                               ob_float_t *res_sum,
+                               ob_float_t *res_diff,
+                               int *landings,
+                               ob_float_t *integ_sum_dps,
+                               ob_float_t *integ_diff_dps) {
+    *res_sum        = db->expiry_res_sum;
+    *res_diff       = db->expiry_res_diff;
+    *landings       = (int)db->landings;
+    *integ_sum_dps  = db->expiry_integ_sum_dps;
+    *integ_diff_dps = db->expiry_integ_diff_dps;
 }

{openbricks-2.6.0 → openbricks-2.6.2}/native/_shared/drivebase_core.h

@@ -92,6 +92,14 @@
 // machinery is the backstop for a genuinely stuck robot.
 #define OB_DRIVEBASE_LANDING_DPS               120.0
 #define OB_DRIVEBASE_MAX_LANDINGS              3
+// Arrival additionally requires the reference to be SLOW — pbio's
+// standstill condition for zero-end-speed maneuvers. Without it, a
+// plant that crosses the position window mid-landing (still
+// carrying the landing ramp's speed) latched done at speed, and
+// the automatic then="coast" dispatch released the wheels while
+// they were turning: stop, lurch, abrupt stop (bench 2026-08-17,
+// the twitch that survived 2.6.0).
+#define OB_DRIVEBASE_ARRIVAL_SPEED_TOL_DPS     60.0
 
 
 typedef struct {
@@ -164,6 +172,14 @@ typedef struct {
     bool       landing_active;    // a landing profile is in flight
     ob_float_t landing_best_err;  // best worst-axis err seen at a gate
     ob_float_t expiry_residual;
+    // Per-axis diagnostics at the same capture point: which axis
+    // carries the lag, and how much the integral was supplying (in
+    // dps) when the profile expired — the numbers that say whether
+    // the integral did its job during the approach.
+    ob_float_t expiry_res_sum;
+    ob_float_t expiry_res_diff;
+    ob_float_t expiry_integ_sum_dps;
+    ob_float_t expiry_integ_diff_dps;
     bool       expiry_captured;
 } ob_drivebase_t;
 
@@ -255,8 +271,11 @@ ob_float_t ob_drivebase_body_to_wheel_diff(const ob_drivebase_t *db,
 // Settle diagnostics: residual at the last move's first profile
 // expiry (wheel-deg, worst axis) and shaped-landing count.
 void ob_drivebase_settle_stats(const ob_drivebase_t *db,
-                               ob_float_t *expiry_residual,
-                               int *landings);
+                               ob_float_t *res_sum,
+                               ob_float_t *res_diff,
+                               int *landings,
+                               ob_float_t *integ_sum_dps,
+                               ob_float_t *integ_diff_dps);
 
 
 // Reset the gyro-mode absolute frame (turn_hold + override slot).

{openbricks-2.6.0 → openbricks-2.6.2}/native/openbricks_sim_native.c

@@ -819,10 +819,11 @@ static PyObject *RawDriveBase_curve(RawDriveBaseObject *self,
 
 static PyObject *RawDriveBase_settle_stats(RawDriveBaseObject *self,
                                            PyObject *Py_UNUSED(ignored)) {
-    ob_float_t r;
+    ob_float_t rs, rd, is_, id_;
     int n;
-    ob_drivebase_settle_stats(&self->core, &r, &n);
-    return Py_BuildValue("di", (double)r, n);
+    ob_drivebase_settle_stats(&self->core, &rs, &rd, &n, &is_, &id_);
+    return Py_BuildValue("ddidd", (double)rs, (double)rd, n,
+                         (double)is_, (double)id_);
 }
 
 

{openbricks-2.6.0 → openbricks-2.6.2/openbricks.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openbricks
-Version: 2.6.0
+Version: 2.6.2
 Summary: openbricks — host-side CLI + MuJoCo-backed simulator for the openbricks MicroPython firmware. Flash, list, run, upload, log; ``openbricks sim`` for the physics simulator.
 Author: openbricks contributors
 License: MIT

{openbricks-2.6.0 → openbricks-2.6.2}/openbricks_dev/__init__.py

@@ -1,4 +1,4 @@
 # SPDX-License-Identifier: MIT
 """openbricks — host-side CLI for flashing and running code on hubs."""
 
-__version__ = "2.6.0"
+__version__ = "2.6.2"