Progress update, 9 Aug 2026

Updates are bullet-point summaries generated with AI from my commits and build notes, then checked by me. Project articles and learning notes are written by me.

Worked out the real control loop period from the telemetry log: about 12 ms against a nominal 5 ms, from 23-sample blocks of repeated angles overflowing a 32-packet FIFO.
Blocking serial output cost about 3.47 ms per 40-character line at 115200 baud, roughly 70% of a 5 ms tick. Printing one tick in twenty brought that down to about 3%.
Switched the UART wait from TC to TXE because it is the correct flag. Measured no speedup, since the baud rate is the limit.
Confirmed the feedback sign was already correct. The suspected inversion came from describing wheel rotation without recording which side of the car it was viewed from.
See Prove the motor mapping and feedback sign.