Spencer/simple state cc improvements#143
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Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Groundwork for supporting alternate feeder flows alongside the current drop-zone-reactive cascade behavior. Adds a FeederMode enum with a single variant (DROP_ZONE_REACTIVE_REV01) and dispatches state-map construction through it in FeederStateMachine. No toml field is required — the default is set in FeederConfig.__init__ and the state machine falls back via getattr, so existing machine.toml files keep working unchanged. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Backend now returns one entry per (fourcc, width, height, fps) from v4l2-ctl instead of deduplicating to max fps per resolution — so the UI reflects what the camera actually advertises. Frontend collapses the resolution and frame rate into a single Mode selector (e.g. "1280×720 @ 30 fps"), keeping Pixel Format separate. Selection is constrained to real camera-reported modes only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Before running the rev01 spoke-home, detect any pieces on the channel using the same bboxesOnChannel() path the runtime state machine uses. If pieces are present, sweep 360 output degrees at rotate_speed_usteps_per_s to clear them before the homing procedure runs. UNTESTED Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Siloed module + UI that sweeps C-channel pulse params to find the fastest settings that don't lose the vision track of a piece in transit. Per trial: pulse C1 to dispense one piece onto C2's tracker, run C2 at the trial's stress params, and classify the outcome — delivered (reached C3), exited (reached the exit zone = made it), track_lost (vanished mid-channel = too fast), no_exit (never left C2 = too gentle). Reaching the exit zone while tracked counts as immediate success; the sweep continues through all trials regardless of any single loss. Work in progress — not yet validated end-to-end on hardware. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
… flow (WIP) feederTrackGidInExitZone now mirrors the regular feeder analyzer instead of rolling its own track loop: it builds ChannelDetections via _channelDetectionsFromTracks and applies the same exit test as analyzeFeederChannels (_bboxExitOverlapRatio > 0 OR bbox-center-crossed). Drops the bespoke coasting-inclusive iteration. Work in progress — not yet validated end-to-end on hardware. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Purpose: prevent the firmware/backend stop path from turning an already-stopped stepper into a reverse creep when move_at_speed(0) is issued redundantly. Includes: firmware handling for zero-speed moveAtSpeed requests and backend guards that skip redundant stop commands when a stepper already reports stopped. Status: untested on-machine behavior beyond build/flash/health verification.
New compartmentalized feeder mode that replaces pulsing with repeated "move to angle at max speed, then re-check vision" cycles. When a piece sits in a channel's exit zone, compute the degrees to carry it past the exit edge plus an overshoot constant; otherwise advance by a fixed step. Cascade gating prevents advancing onto an occupied downstream drop zone. - FeederMode.GO_TO_ANGLE_REV01 + [feeder] mode TOML parse + SM routing - subsystems/feeder/go_to_angle/: config, geometry, flow - toml_config get/set + /api/tuning/feeder-go-to-angle endpoints - frontend tuning page at /tuning/feeder-go-to-angle Work in progress: geometry and direction sign need live tuning on hardware. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
analyzeFeederChannels takes detections first (no gc); the WIP flow was passing gc, crashing the feeder loop on entry to FEEDING. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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