The Framework mobile AI.

• main is Linux-first and contains the active codebase.
• windows-legacy is a frozen branch kept only for historical WinForms validation/comparison.
• Do not add new feature work to windows-legacy.

• dotnet test Haden.ConsoleTests/Haden.ConsoleTests.csproj --logger "console;verbosity=detailed"
• dotnet run --project Haden.HardwareSmoke/Haden.HardwareSmoke.csproj -- /dev/rfcomm0
• sudo rfcomm connect /dev/rfcomm0 00:16:53:17:9B:47 1

sudo rfcomm connect /dev/rfcomm0 00:16:53:17:9B:47 1

• dotnet build Haden.Autonomy.sln -warnaserror -v minimal
• dotnet test Haden.Autonomy.sln --logger "console;verbosity=detailed"

The branch-01/branch-02 embodied model can be exported into a TreeNode view for explainability and paper figures.

• Model source: Haden.Library/Algorithm/IdealEmbodiedLightSeeker.cs
• Export adapter: Haden.Library/Algorithm/IdealEmbodiedDecisionTreeAdapter.cs
• Paper section (LaTeX): docs/paper/light_seeker_branch12.tex
• Live seek decision theory note: docs/paper/seek_triplet_theory.md

Use this when you want a human-readable summary of learned experiment -> result interactions. It is intended for interpretation and analysis, not as the primary control loop.

Example:

using Haden.Library.Algorithm;
using Haden.Library.DecisionTree;

var seeker = new IdealEmbodiedLightSeeker(
    experiments: new[] { "scan-left", "scan-right" },
    initialExperiment: "scan-left");

seeker.SetResultValence("dark", -1.0);
seeker.SetResultValence("bright", 1.0);

seeker.Step(exp => exp == "scan-left" ? "dark" : "bright");
seeker.Step(exp => exp == "scan-left" ? "dark" : "bright");

TreeNode tree = IdealEmbodiedDecisionTreeAdapter.Export(seeker);
string html = tree.ToHtmlTree();

• dotnet test Haden.ConsoleTests/Haden.ConsoleTests.csproj --logger "console;verbosity=detailed"

• Project: Haden.LinuxMigrationReview/Haden.LinuxMigrationReview.csproj
• Purpose: keep extracted platform-neutral logic from recently added Windows-only paths in a Linux-reviewable library.
• Current extracted logic: adaptive seek-cycle state update (AdaptiveSeekCycle).

• Project: Haden.NxtSDK/Haden.NxtSDK.csproj
• Scope: headless NXT serial protocol client for connect, sensor input reads, motor output commands, and disconnect.

• Project: Haden.HardwareSmoke/Haden.HardwareSmoke.csproj
• Default command: dotnet run --project Haden.HardwareSmoke/Haden.HardwareSmoke.csproj
• Auto-connect source order: command arg path -> HADEN_NXT_PORT -> /dev/rfcomm0
• Detailed pairing/connectivity guide: NXTRobot Setup.md
• Peak-light steering mode (sensor motor A + wheel motors B/C):
  • dotnet run --project Haden.HardwareSmoke/Haden.HardwareSmoke.csproj -- --seek-max-light
  • Scan-head homing mode: dotnet run --project Haden.HardwareSmoke/Haden.HardwareSmoke.csproj -- --home-scan-head
  • Scorecard report mode: dotnet run --project Haden.HardwareSmoke/Haden.HardwareSmoke.csproj -- --scorecard
  • Immediate motor de-power mode: dotnet run --project Haden.HardwareSmoke/Haden.HardwareSmoke.csproj -- --all-stop
  • Episode termination: front bump sensor trigger (primary), with HADEN_SEEK_MAX_ITERATIONS safety cutoff.
  • Safety behavior: motors A/B/C are best-effort de-powered in a finally path after each hardware run mode.
  • Defaults: HADEN_LIGHT_SCAN_MOTOR_PORT=0 (A), HADEN_LEFT_WHEEL_MOTOR_PORT=1 (B), HADEN_RIGHT_WHEEL_MOTOR_PORT=2 (C)
  • Control tuning: HADEN_SCAN_POWER, HADEN_SCAN_DEGREES_MIN, HADEN_SCAN_DEGREES_MAX, HADEN_SCAN_DEGREES_STEP, HADEN_WHEEL_BASE_POWER, HADEN_WHEEL_MAX_POWER, HADEN_WHEEL_TURN_GAIN, HADEN_WHEEL_TURN_FLOOR, HADEN_SEEK_DELTA_DEADBAND, HADEN_PEAK_TOLERANCE, HADEN_WHEEL_STEP_DEGREES
  • Probe-based scan decisioning: HADEN_SCAN_PROBE_POWER, HADEN_SCAN_PROBE_DEGREES, HADEN_SCAN_PROBE_SETTLE_MS, HADEN_DECISION_DEADBAND
  • Evidence-gated seek (sense then move): HADEN_DECISION_MIN_CONFIDENCE_PERCENT, HADEN_SCAN_PROBE_FLAT_LIMIT, HADEN_SCAN_PROBE_POWER_MAX, HADEN_SCAN_PROBE_DEGREES_MAX, HADEN_SCAN_PROBE_POWER_STEP, HADEN_SCAN_PROBE_DEGREES_STEP
  • Boredom-based direction reversal: HADEN_BOREDOM_DELTA_THRESHOLD, HADEN_BOREDOM_FLAT_LIMIT, HADEN_BOREDOM_UNCERTAIN_LIMIT, HADEN_PEAK_UNSURE_MARGIN, HADEN_EXPLORATION_WHEEL_POWER, HADEN_EXPLORATION_TURN_MAGNITUDE
  • Anti-pathology controls: HADEN_PEAK_CONFIRM_TICKS, HADEN_STUCK_SAME_DIR_LIMIT, HADEN_UNCERTAIN_ALTERNATE_STEPS
  • Optional post-decision scan nudge (off by default to avoid end-stop banging): HADEN_SEEK_SCAN_NUDGE_ENABLE
  • Steering polarity and signal conditioning: HADEN_STEER_INVERT (0/1), HADEN_SCAN_INVERT (0/1), HADEN_LIGHT_SMOOTH_WINDOW (1-10, default 3)
  • Bump-sensor control: HADEN_BUMP_SENSOR_PORT (default 1), HADEN_BUMP_ACTIVE_LOW (0/1)
  • Start-of-run scan-head homing: HADEN_SCAN_HOME_ENABLE (0/1, default 1), HADEN_SCAN_HOME_DISABLE (0/1, default 0), HADEN_SCAN_HOME_INVERT (0/1, default 0), HADEN_SCAN_HOME_POWER (default 22), HADEN_SCAN_HOME_SETTLE_MS (default 250), HADEN_SCAN_HOME_MAX_SWEEP_DEGREES (default 1080), HADEN_SCAN_HOME_SWEEP_STEP_DEGREES (default 40), HADEN_SCAN_HOME_STAGNANT_STEPS (default 3)
  • Homing method: full-range sweep calibration: home CW -> reset tacho -> stepwise sweep CCW until travel stagnates -> derive midpoint from measured full travel (rotBefore/rotAfterReset/rotAfterOpposite/fullTravel/rotAfterCenter logs)
  • Backward compatibility: legacy centering env names (HADEN_CENTER_*) and --center-only are still accepted as aliases.
  • SQLite persistence: HADEN_RL_DB_PATH (default output/haden-rl.db)
  • Stored tables: experiment_session, experiment_step, rl_point, rl_scorecard

• Project: Haden.RobotBehavior/Haden.RobotBehavior.csproj
• Scope: extracted non-UI light-seeking behavior logic from legacy manual/simulator flows (turn-choice and sensor-difference decision routines).

• Project: Haden.Simulation/Haden.Simulation.csproj
• Scope: headless simulation whirl engine for light-seeking state updates using Haden.Library.WhirlEngine.

Robot17 - 00:16:53:17:9B:47

sdptool browse 00:16:53:17:9B:47 | grep -E "Service Name|Channel|Serial Port" -A2