♻️ full agent refactor

2026-06-10 21:15:34 +02:00
parent a98e86ef66
commit 1e0836e1bc
49 changed files with 1309 additions and 829 deletions
--- a/assets/motor/hardware.yaml
+++ b/assets/motor/hardware.yaml
@@ -0,0 +1,10 @@
+# Motor-only hardware config
+# Encoder and motor constants for the motor-only sysid capture.
+
+encoder:
+  ppr: 11              # pulses per revolution (before quadrature)
+  gear_ratio: 30.0     # gearbox ratio
+  # counts_per_rev = ppr × gear_ratio × 4 (quadrature) = 1320
+
+motor:
+  max_pwm: 255         # maximum PWM command accepted by firmware