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Guide to all documentation in this folder. Files categorized by role and freshness.
- CORE — Active reference, directly used during development
- BACKGROUND — Pybricks/external analysis, useful context but not our implementation
- STALE — Outdated or superseded; kept for history
| File | Topic | Notes |
|---|---|---|
| sensor-fixes.md | LUMP keepalive, chunked delay, mode-switch arch, flash, motor PWM confirmed | Golden source — see also User Manual §2.5, LUMP protocol |
| gdb-debugging.md | GDB/LLDB RSP architecture, DebugMonitor priority, trampoline, GDB_ACTIVE guard | See also User Manual §2.8, Ref Manual §3.7, gdb-vs-codelldb |
| sensor-power-requirements.md | Extra PWM-like power for some peripherals | NEW — some LEGO parts need power pin activation |
| motor-encoder-mechanism.md | Motor position = LUMP UART, not quadrature | See also motor-position-controller, User Manual §2.4 |
| motor-position-controller.md | Ramp+nudge controller design, tunable parameters, test results | See also motor-encoder-mechanism, API motor_goto |
| pybricks-lump-protocol-reference.md | Complete LUMP protocol spec: headers, checksums, handshake, modes, keepalive | Most valuable file — see also sensor-fixes, build-hat-reference |
| rtic-async-patterns.md | RTIC v2 async/await, spawning, channels, completion patterns | See also Ref Manual §3.2 |
| Laborne Trajectory Generator...md | Servo code review, timing glitches, observer gain analysis | See also motor-position-controller |
| File | Topic | Notes |
|---|---|---|
| pybricks_lowspeed_motor_analysis.md | Pybricks PID: adaptive Kp, integral deadzone, anti-windup | See also motor-pwm-findings, User Manual §7.1 |
| motor-pwm-findings.md | Pybricks PWM: 12kHz, duty range, slow-decay | See also pybricks analysis |
| self-hosted-DWT-use-address-triggering.md | DWT self-hosted watchpoint concept, DHCSR/FPB/DebugMonitor overview | See also Ref Manual §3.6, User Manual §2.7 |
| GDB remote seriela protocol.md | Link to GDB RSP docs | See also gdb-debugging, Ref Manual §3.7 |
| stack-corruption-and-guard-bands.md | MPU guard bands, stack painting, fault marker | See also Ref Manual §5, Ref Manual §2.2 |
| AI-talks to hub-example-chat.md | Sensor probing transcripts, color sensor type 61, mode switching tests | Historical transcript — see sensor-fixes for validated findings |
- Motor docs —
motor-pwm-findings.md+pybricks_lowspeed_motor_analysis.mdcould merge into one background file (pybricks-motor-analysis.md) since both are "how Pybricks does it" - Our motor docs —
motor-position-controller.md+motor-encoder-mechanism.mdcould merge intomotor-control.mdsince both describe our implementation - Rules — Delete
copilot-self-rules.md, keep.github/copilot-instructions.mdas canonical
Note: Given the complexity of this project, prefer keeping files separate and using this index. Wrong merges are worse than extra files.