nx_robot_control.nx

nx_robot_control.nx -- SOVEREIGN closed-loop motion CONTROL (the essence of "true control": read sensor -> compute -> drive actuator, in a loop, until the goal is reached). This is what makes a robot/sensor/actuator actually CONTROL something -- the same loop the printer and the IoT devices run, generalized. Fixed-point / NO FLOAT throughout (gains scaled by /100). A simple, provably-stable first-order plant (a motor+load: position advances by (command - load)/inertia per tick) stands in for real hardware so the loop is gate-verifiable without a machine. NEVER-BRICK (#26) BY CONSTRUCTION: the controller output is CLAMPED to +/-UMAX, so no matter how large the error, the actuator can never be commanded past a safe limit -- a hardware-safety invariant proven mechanically by the gate, not promised. (The real hardware-write driver inherits this clamp + a watchdog + safe-state-on-fault.) license_tier: ORIGINAL expect_exit: 0