nx_robot_kinematics_gate.nx
buildroot/runtime/nx_robot_kinematics_gate.nx
about
nx_robot_kinematics_gate.nx -- R-ROBO-3 GATE: robot kinematics + the full motion pipeline.
VERIFIES: (1) CoreXY FK<->IK round-trips EXACTLY (integer, no drift) on several poses;
(2) 2-link arm FORWARD kinematics hits exact KATs at axis angles (0/90/180 deg) and a 45-deg
case within Q10 tolerance with x==y symmetry; (3) CAPSTONE -- a Cartesian move is converted to
CoreXY motor deltas and fed through nx_robot_step, and the per-motor pulse counts EXACTLY equal
the IK motor deltas (pose -> motor-space -> synchronized stepper pulses, the whole "command a
robot to move" chain composes); (4) NEGATIVE CONTROL -- a corrupted motor value breaks the
round-trip, proving the checks have teeth. 100% sovereign, integer-only.
license_tier: ORIGINAL expect_exit: 0
dependencies 3 imports · 0 importers
imports: nx_syscalls.nxnx_robot_kinematics.nxnx_robot_step.nx
imported by: nobody (leaf or entry point)
call flow from main pre-order; caps 40 nodes / depth 6 declared; ↻ = already shown
structs
| none |
consts
| none |
functions
| 14 | func sw(s: *u8) -> i64 { var n: i64 = 0; while s[n] != (0 as u8) { n = n + 1 } sys_write(1, s, n); return 0 } |
| 15 | func sn(v: i64) -> i64 |
| 25 | func check(name: *u8, cond: i64, tot: *i64) -> i64 |
| 31 | func abs_i(v: i64) -> i64 { if v < 0 { return 0 - v } return v } called by 1: main |
| 34 | func corexy_roundtrip_ok(x: i64, y: i64) -> i64 |
| 45 | func main() -> i64 |