Christopher "Monty" Montgomery
Christopher "Monty" Montgomery
Hiya, saw the mail, just behind. No need to ask permission to fork! Once you have a PR, I'll be happy to look.
Limit cycles should be impossible (it won't pick something new unless cost goes down), so the bug is in that decision. I'll look now. Monty On Mon, Oct 21, 2019...
OK, I see what's happening. The logic behind my 'cost always goes down' invariant is incorrect.
PR #1800 fixes your test case.
The firmware, as written, is not intended to home to the left. It's trying to home to the right and watch for a motor stall. All that back and forth...
While making sure I had the right patch (I'd done several other things in that checkout since), I find I'm no longer able to trigger the bug. I think for...
...right, because it was the exact _opposite_ of what I needed to patch :-) MC needs to be operating for the bug to manifest. Here's a patch against master as...
> @xiphmont - you may be interested in tracking this. Yep, still working back up the stack.
This needs a rebase and general cleanup taking comments into account. I'll have an updated patchset soon after a little more discussion (eg, I name my experimental packages with 'bleed'...
WIP: added to both PRs, as both will need more revision/discussion. Apologies for the momentary lack of attention, work has been busy. I appreciate the deep and detailed review. The...