35754477538
88%

Ran 22 Sep 2026 04:31PM UTC

Jobs 1

Files 11

Run time 1min

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Committed 22 Sep 2026 04:29PM UTC coverage: 87.828% (-0.4%) from 88.186%

Build # 35754477538

Build Type

push

github

Committed by

NGierden

Commit Message

Put the motor watchdog behind a switch

MotorWatchdogConfig.enabled, shipping True. Off, the watchdog is inert: no
detection, no re-enable, and the command reaches the motor exactly as the
position loop produced it.

A flag rather than a deletion because the behaviour it guards against is rare
and its trigger is tuned against a single recording -- one whose cause turned
out to be a flat battery. If it ever fires on a leg that was working, switching
it off separates the watchdog from whatever else is going on without unpicking
the wiring.

The switch also releases the give-up latch. A leg already written off would
otherwise stay uncommanded after the watchdog was turned off to rule it out,
which would look like evidence that the watchdog was not the problem.

Three tests: that it ships on, that off it stays silent through ten times the
fault window against a motor that looks dead, and that off it hands back a leg
it had already condemned.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>

Coverage Stats

837 of 953 relevant lines covered (87.83%)

0.88 hits per line

Coverage Regressions

Lines	Coverage	∆	File
4	82.25	-0.9%	exosuit_python/exosuit.py

Jobs

ID	Job ID	Ran	Files	Coverage
1	35754477538.1	22 Sep 2026 04:31PM UTC	11	87.83	GitHub Action Run

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