nx_robot_firmware.nx

nx_robot_firmware.nx -- SOVEREIGN MCU FIRMWARE GENERATOR (Omniforge ladder tier-4: "given a board, auto-generate NishiLang firmware for its MCUs"). This is what makes "robots run our Nishi code" LITERAL: given a board control spec (setpoint, gains, safety limits, pins), it EMITS a NishiLang firmware source file implementing the closed-loop controller -- reusing the SAME proven control math (nx_robot_control). The emitted firmware is NEVER-BRICK (#26) BY CONSTRUCTION: it contains an output clamp, a watchdog, and a safe-state handler, so on any fault (sensor loss / watchdog timeout / e-stop) it commands the actuator to a SAFE state instead of running away. Also provides the fail-safe RUNTIME MODEL (fw_safe_command + fw_run host-sim) so the generated firmware's behaviour -- converge / clamp / fault->safe-state -- is gate-provable WITHOUT real hardware. HONEST SCOPE: the emitted .nx targets a hardware HAL (hw_read_sensor/hw_drive_step) that is the next rung (the fail-safe driver); we generate + prove the logic, not flash a chip. license_tier: ORIGINAL expect_exit: 0