Function testRelative

tracker/scripts/slow-limits.ts:142–181

()

}

async function testRelative(): Promise<void> {
  console.log("\n=== B. RELATIVE move (06 03) at low speed bytes ===");
  for (const b of [1, 2]) {
    await position(-60, 0);
    gotoRel(40, 0, b, b); // far target: still in flight during the window
    await sleep(1000);
    const frames = await capture(2.5);
    stop();
    await sleep(600);
    const dps = cruiseDps(frames);
    if (dps > 0.2 && dps < 7) {
      console.log(`  rel pan @${b}: cruise ${dps.toFixed(2)} °/s  *** SLOWER THAN FLOOR — new lever! ***`);
    } else if (dps >= 7) {
      console.log(`  rel pan @${b}: cruise ${dps.toFixed(2)} °/s  (no slow lever)`);
    } else {
      // Saw nothing — either the move finished at high speed before the
      // capture window, or 06 03 is unsupported. Disambiguate by displacement.
      await position(-60, 0);
      const a = (await capture(0.4)).pop()!;
      gotoRel(5, 0, b, b);
      await sleep(3000);
      stop();
      const z = (await capture(0.4)).pop()!;
      const moved = totalDeg(a, z);
      console.log(`  rel pan @${b}: cruise ~0 in window; 5° probe moved ${moved.toFixed(1)}°  ${moved > 3 ? "(supported but FAST — ignores speed byte, dead end)" : "(06 03 unsupported on this firmware)"}`);
    }
  }
  // Chained small relatives — the "creep by inches" variant.
  console.log("  chained 0.5° relatives @byte1, 300ms period:");
  await position(-60, 0);
  const cap = capture(4.5);
  await sleep(800);
  for (let i = 0; i < 10; i++) { gotoRel(0.5, 0, 1, 1); await sleep(300); }
  const frames = await cap;
  stop();
  const s = shiftSeries(frames);
  const { peak, mean } = stats(s);
  console.log(`    profile |${profile(s)}|`);
  console.log(`    mean ${mean.toFixed(2)} °/s, peak ${peak.toFixed(2)} °/s ${peak < 4 ? "(gentle — usable!)" : "(lunges — same stutter)"}`);
}

async function testPulseQuantum(): Promise<void> {
  console.log("\n=== C. Pulsed DRIVE @byte1 — displacement quantum + ramp ===");