trevato/arm
Public: anyone can read this; the crew can change it.
Migrated from github.com/Trevato/SO-ARM100
workbenchthis machine
- When a turn ends, the relay fetches its trace from GET /precision/trace and stores it with the turn in facts (capped, gone at 90 days)
- settings.servoGains holds the measured per-joint P/I/D, validated at PUT /settings (src/servo-gains.ts, no servo writes yet)
- The intent hold falls back to the arm's real settle time (1 s, not 2 s) when the motion gives no duration; arrival stays at 12 ticks or less
- Data view: a session's joint traces (intent against actual)
- main's tests pass again: the #notesPill fade rules move from src/ui/notes.css into viewer.html's <style>
- Data view: Pi temperature and under-voltage over time
- Data view: a session's joint traces (intent against actual)
- main's tests pass again: the #notesPill fade rules move from src/ui/notes.css into viewer.html's <style>
- A Data view to explore the arm: people, precision, latency and health, over time, on any screen
- A jam is load without progress: hard acceleration toward a far target is not a jam (17 false jams, 2 of 3 snap-backs)
- Precision, forever: calibrate the model to the arm, tune the servos against the scorecard, report weekly
- bench/limits-search.ts <url> runs the limits search per joint against the fake bus or a given arm server and prints a before/after table a person can paste on #439
new above
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