patman/KGROO
1
1
Fork 0
Code Issues Pull requests 14 Projects Releases Packages Wiki Activity Actions 3

feat(hero): jerk-limited racer steering agents #28

Open
patman wants to merge 1 commit from patman/hero-racers into patman/hero-field AGit
pull from: patman/hero-racers
merge into: patman:patman/hero-field
Conversation 0 Commits 1 Files changed 1 +203
patman commented 2026-06-12 19:45:53 +00:00
Owner
Copy link

PR 3/7 in the hero-toolpaths stack (prev: hero-field, next: hero-shaders). Six heads steered through the shared curl field with cascaded saturated P loops — error to omega_d to alpha_d with a bounded d-alpha/dt stage, i.e. S-curve turn profiles where jerk is the commanded quantity (the KGROO pitch in miniature). Head 0: pronounced jerk-limited feed swells; head 1: deliberately trapezoidal (constant accel, hard corner slowdown) as the legacy-G-code product contrast. Weak O(K2) separation, soft view confinement, struct-of-arrays state, zero allocations in step(). Review focus: the commented steering cascade in step() — the saturation order (error, rate, accel, jerk) is the product story.

PR 3/7 in the hero-toolpaths stack (prev: hero-field, next: hero-shaders). Six heads steered through the shared curl field with cascaded saturated P loops — error to omega_d to alpha_d with a bounded d-alpha/dt stage, i.e. S-curve turn profiles where jerk is the commanded quantity (the KGROO pitch in miniature). Head 0: pronounced jerk-limited feed swells; head 1: deliberately trapezoidal (constant accel, hard corner slowdown) as the legacy-G-code product contrast. Weak O(K2) separation, soft view confinement, struct-of-arrays state, zero allocations in step(). Review focus: the commented steering cascade in step() — the saturation order (error, rate, accel, jerk) is the product story.
feat(hero): jerk-limited racer steering agents
All checks were successful
CI / build-test (pull_request) Successful in 1m16s
Details
ea8eca5e6a 
Six heads steered through the shared curl field with cascaded saturated
P loops — error→ω_d→α_d with a bounded dα/dt stage, i.e. S-curve turn
profiles where jerk is the commanded quantity. Head 0 runs a pronounced
jerk-limited feed swell; head 1 is deliberately trapezoidal (constant
accel, hard corner slowdown) as product contrast. Weak O(K²) separation
and soft view confinement. Struct-of-arrays state; step() allocates
nothing.
patman force-pushed patman/hero-racers from ea8eca5e6a
All checks were successful
CI / build-test (pull_request) Successful in 1m16s
Details
to 103ed41914
All checks were successful
CI / build-test (pull_request) Successful in 1m18s
Details
2026-06-12 21:12:28 +00:00 Compare
patman force-pushed patman/hero-racers from 103ed41914
All checks were successful
CI / build-test (pull_request) Successful in 1m18s
Details
to fce57424a0
Some checks failed
CI / build-test (pull_request) Has been cancelled
Details
2026-07-02 03:06:46 +00:00 Compare
Some checks failed
CI / build-test (pull_request) Has been cancelled
Details
This pull request can be merged automatically.
You are not authorized to merge this pull request.
View command line instructions

Checkout

From your project repository, check out a new branch and test the changes.
git fetch -u origin +refs/pull/28/head:patman/hero-racers
git switch patman/hero-racers

Merge

Merge the changes and update on Forgejo.

Warning: The "Autodetect manual merge" setting is not enabled for this repository, you will have to mark this pull request as manually merged afterwards.

git switch patman/hero-field
git merge --no-ff patman/hero-racers
git switch patman/hero-racers
git rebase patman/hero-field
git switch patman/hero-field
git merge --ff-only patman/hero-racers
git switch patman/hero-racers
git rebase patman/hero-field
git switch patman/hero-field
git merge --no-ff patman/hero-racers
git switch patman/hero-field
git merge --squash patman/hero-racers
git switch patman/hero-field
git merge --ff-only patman/hero-racers
git switch patman/hero-field
git merge patman/hero-racers
git push origin patman/hero-field
Sign in to join this conversation.
Reviewers
No reviewers
Labels
Clear labels   
AI Assisted

Built with AI assistance; Patrick is the primary author

  
Bug fix

Use on bug fixes

  
CAM

Computer aided manufacturing edits

  
Dirac

common/dirac math library

  
Docs

docs

  
Feature

Use on entirely new features

  
Infra

Provisioning, CI/CD, and dev tooling

  
Interpreter

Work on the interpreter core

  
Webfront

Static webfront only, not CAM interfaces or metrics

No labels
AI Assisted
Bug fix
CAM
Dirac
Docs
Feature
Infra
Interpreter
Webfront
Milestone
Clear milestone
No items
No milestone
Projects
Clear projects
No items
No project
Assignees
Clear assignees
No assignees
1 participant
Notifications
Due date
The due date is invalid or out of range. Please use the format "yyyy-mm-dd".

No due date set.

Dependencies

No dependencies set.

Reference
patman/KGROO!28
No description provided.