nx_vessel_io.nx

nx_vessel_io.nx -- H1 of the HARDWARE-IN-THE-LOOP ladder: realistic SENSOR and ACTUATOR models, so the real control software is tested against imperfect hardware -- not the perfect readings a unit test gives. A real temperature probe has: thermal LAG (its own mass takes time to reach the liquid's temperature), QUANTIZATION (a finite-bit ADC), and NOISE. A real heater is PWM bang-bang with a power cap. H1 models all of these so the R1 controller can be flown against them in the loop -- catching instability or offset from sensor lag BEFORE the build. Deterministic by construction (no RNG): "noise" is a reproducible dither keyed on the step index, so the gate is exact and repeatable. genealogy_id: hardware_in_the_loop_sim + first_order_sensor_lag + pwm