forked from unom/punktfunk
enricobuehlerandClaude Fable 5
759aac255b
Midday on-glass falsified v2's remaining assumptions: a per-frame additive hold SATURATES the arrival-slaved loop once hold + work >= interval — submits free-run at their own cadence and the commanded phase dissolves (measured: +-2 ms hold steps, zero client response) — and the latch statistic hovers at the target's ANTIPODE, where shortest-way errors sign-flip on noise (the 0<->2<->4 ms offset chatter). v3, one change per falsified assumption: - ACTUATOR: submits lock to an absolute grid (epoch + k x period + offset); the controller walks only the offset. A periodic grid cannot free-run — occupancy is one frame per period whatever the offset — so phase actuation is linear BY CONSTRUCTION. Disengaged = no grid sleeps = zero cost; every failure path DISENGAGES (never parks: v2's e2e-tax lesson). - SENSOR: the client reports the circular mean + coherence of the ARRIVAL lead (per-AU reassembly stamps vs the panel latch grid) — the phase the host actually controls; latch measured downstream of the decoder pipeline, which absorbed the actuation. pf.phase logs "arrival lead circ= coh=". - ANTIPODE DAMPING: errors within 1 ms of +-period/2 take half-steps until they commit to a side. Harness rewritten around plants glass validated: a GRID plant (linear by construction), the DECOUPLED plant (v2's saturation — must disengage, not orbit or park), an antipode start (must converge within one period of travel), incoherence (never engages), a regime change (re-engages after backoff), and the actuator's own periodicity/offset-linearity. Also fixes the harness's SIM_TARGET (a mis-derived max asserted 3.5 ms where the controller's actual target is 2.5 — the controller was right, the ruler was wrong; the Python cross-check inherited the same constant, a lesson in replicating the CODE, not the author's belief about it). Gates: v3 simulations 6/6; host bin suite 345/1 (the documented environmental qemu UDP test); clippy --all-targets -D warnings clean; cargo ndk arm64 check clean. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>