✨ clean up lot of stuff

2026-03-22 15:49:13 +01:00
parent d3ed1c25ad
commit ca0e7b8b03
37 changed files with 3613 additions and 1223 deletions
--- a/assets/rotary_cartpole/hardware.yaml
+++ b/assets/rotary_cartpole/hardware.yaml
@@ -10,7 +10,7 @@ encoder:
  # counts_per_rev = ppr × gear_ratio × 4 (quadrature) = 1320

 safety:
-  max_motor_angle_deg: 90.0   # hard termination limit (0 = disabled)
+  max_motor_angle_deg: 90.0    # hard termination limit (physical endstop ~70-80°)
  soft_limit_deg: 40.0        # progressive penalty ramp starts here

 reset: