feat(rover): add drive profiles and leased remote command channel
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DCCONSTRUCTIONS
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# Rover control behaviour prototype
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Status: **offline behavioural reference; no production actuation adapter**.
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Requested by the owner while unavailable for physical testing, 2026-09-24.
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Neither Core composition nor Node/VESC runtime imports these modules. No new
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driver, service, firmware, motor settings or authority capability is installed.
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`src/profile.ts` contains the versioned desired-profile parser, Tank and Arcade
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mixers, continuous deadband, linear/squared response, relative output scaling,
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and fan-out to any number of UUID-bound motors on both sides. UUIDs must be
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unique; a missing side is rejected. `forwardSign` is the verified sign at the
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future actuator adapter, not a copy of `m_invert_direction` and not a second
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automatic inversion of the current VESC configuration.
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The normalized result has no electrical units. It cannot be sent as amperes,
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watts, duty, ERPM or speed without a separately qualified adapter and individual
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motor, battery/BMS and braking limits. A profile output scale of 80% is **not**
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the owner's proposed 20% safety margin against verified equipment ratings.
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The current real RC path is PPM Duty Cycle; this prototype does not change it.
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Arcade uses continuous diamond desaturation, with forward positive and right
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yaw positive. For shaped inputs `v` and `r`, the pair is `(v+r, v-r)` multiplied
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by `max(abs(v),abs(r))/(abs(v)+abs(r))`, or zero at the origin. This follows the
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WPILib ArcadeDriveIK geometry with the steering sign adapted to the UI.
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Reverse plus right still requests right yaw; it is not a car steering-wheel
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convention, curvature drive, a turn-radius controller or omnidirectional motion.
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No VESC Tool calibration algorithm is reproduced.
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References inspected 2026-09-24:
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- [WPILib drive classes](https://docs.wpilib.org/en/stable/docs/software/hardware-apis/motors/wpi-drive-classes.html)
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- [ArcadeDriveIK source](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp)
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## Authority model
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`src/authority.ts` is a pure deterministic model. Its output contains **intent**
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to stop all drives, revoke the Core epoch, flush queued motion and cancel
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autonomous motion tasks; it does not actually stop a motor or cancel a process.
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The future actuator must enforce the gate synchronously before asynchronous
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task cancellation. RC reception, drive supervision and telemetry must survive.
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Boot, input loss, controller loss, stale/invalid data, a timing gap or Core
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command loss enter hold. First RC deflection while Core owns motion consumes
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the gesture and revokes the old token. Every assigned input must then be neutral
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and every motor must have trusted physical-stop evidence for the full configured
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interval. A held first gesture or repeated packet does not qualify. The next
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gesture starts RC manual operation. Neutral never resumes the previous Core
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task. Reacquisition requires a new explicit, nonreplayed request in neutral.
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Old Core commands cannot cross an epoch or process boot identity.
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Policy values are mandatory constructor arguments. The demo uses 100 ms
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freshness / 200 ms neutral solely as synthetic fixtures, **not accepted rover
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reaction limits**. Use one monotonic clock domain from an authenticated local
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producer and a fresh unpredictable boot identity per instance. A token is a
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stale-command fence, not authentication or a replacement for access control.
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Calls and input types belong to a trusted model harness; this is not a public
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network request parser. Run a supervisory tick even when no new input arrives.
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`link.live`, sample acquisition timestamps/sequences and `drive.stopped` must
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come from qualified evidence. A fresh USB response with old decoded PPM does
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not meet this contract. Zero motor current/duty alone is not physical stop.
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The current FW 5.02 input API does not supply all required evidence. In
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particular, stop-first independent of Mini needs an enforcement point outside
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Mini and coordination of **all** motor controllers. No such qualified mechanism
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is claimed by these tests. Receiver failsafe is also still awaiting acceptance.
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Input axes are semantic controls, not invented receiver channels. The mixer for
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Tank requires two Y axes; Arcade requires both axes of the selected stick. The
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authority policy separately declares all `monitoredAxes`: the demo watches all
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four axes, so the other stick also stops Core in Arcade. Missing monitored axes
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are rejected, not synthesized as zero; all must return to neutral. The current two
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separate receiver-to-VESC PWM outputs do not establish access to those Arcade
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axes. The channel map, radio-link semantics and independent mixed RC path remain
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hardware integration work. Profile revision or binding changes require a fresh
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model initialized in hold, not an in-place live change.
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## Preview and validation
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Use the already installed Control Station toolchain; no new dependencies:
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```sh
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cd apps/control-station
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node --test test/roverControl.test.mjs
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./node_modules/.bin/tsc --project tools/rover-control-preview/tsconfig.json
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node tools/rover-control-preview/build.mjs /absolute/artifact/directory
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```
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The self-contained HTML uses canonical Design Guideline components. Its CSP
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disables all network connections, and no transport/serial code exists in the
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bundle. It is an owner-review artifact, outside production navigation. Browser
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storage and JSON export contain a **draft**, never confirmed applied state.
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It does not add USB controls, device-specific phantom entities or a runtime
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source-selection switch to the product. The synthetic takeover trace is
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engineering review content, not a proposed operator control panel.
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Intended product placement remains the existing shared «Настройки борта» section
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on Core and Node, between computer details and devices. Alternatives (a new
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workspace or separate per-VESC control-mode selectors) would fragment a single
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vehicle-wide profile and are not used. Existing `Inspector`, `SettingsCard`,
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`InspectorSelectField`, `RangeControl`, `Button`, `StatusBadge` cover the review;
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no Design Guideline extensions or new visual primitives were needed.
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Before production integration: verified input mapping and radio failsafe,
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independent stop-first actuator mechanism, desired/applied profile storage on
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Node with optimistic revision checking, all-member application receipts and
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failure recovery, then shared UI and supervised unloaded tests. Do not expose
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an enabled Apply button based only on successful model tests.
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