Hysteresis Project - Complete Code Changelog

Movement Algorithm Stream (Searching Series)

SearchingV31.ino - August 4, 2025

Pull-pullback gravity dynamics with territorial exploration

• v31: Prolonged dramatic struggle against darkness - slower energy drain, stronger resistance, tighter centre threshold
• v30: Gravity-influenced territorial exploration, multi-vector movement system
• v29: Spatial weighting for systematic coverage, organic perimeter search
• v28: Grid memory for systematic exploration, balanced search speeds, no randomness

SearchingV27.ino - August 3, 2025

Fixed SEARCH to explore at perimeter with irregular patterns

• v27: SEARCH now stays at perimeter with irregular, elongated circles
• v26: Four-state system (Rest/Seek/Search/Return) with clear transitions
• v25: Energy/gravity model - rest position has gravitational pull
• v24: Two-tier search with major/minor circles, dual memory systems
• v23: Implemented hysteresis-based dwelling for lonely search behavior
• v22: Added epicycloid pattern generation for circles within circles
• v21: Multi-frequency sine wave exploration with organic movement
• v20: Added Perlin-like noise generation for natural variations
• v19: Improved smoothing algorithms for servo response
• v18: Enhanced boundary constraints and limit handling
• v17: Optimized timing intervals for consistent updates
• v16: Refactored movement calculation pipeline
• v15: Added debug output for position tracking
• v14: Fixed servo pin assignments (X=3, Y=5)
• v13: Renamed base/axial to X/Y for clarity

SearchingV12.ino - July 27, 2025

Basic smooth searching with manual override

• v12: Implemented smooth searching motion from startup
• v11: Added manual override via serial terminal
• v10: Basic random walk implementation

LED Communication Stream (Hysteresis_I_MMLC Series)

Hysteresis_I_MMLC_0.16.ino - July 30, 2025

LED Hysteresis Lighting System

• v0.16: Adjusted fade ranges to reduce pastel tones
• v0.14 and earlier: Developed hysteresis-controlled RGB transitions

Note: Significant version gap suggests concentrated development period between v0.10-v0.14 not captured in available files

Development Timeline Summary

BLDC Hardware Stream (Motor Control System)

SimpleFOC_TestUtility.ino - August 31, 2025

Live-tunable BLDC motor testing framework

Purpose: Universal testing utility for BLDC motor compatibility with SimpleFOCMini Location: /code/Arduino/utilities/SimpleFOC_TestUtility.ino

Features:

• Live voltage adjustment via serial (v1.2)
• Live speed adjustment via serial (s0.8)
• Systematic pole pairs testing through code changes
• RP2040-Zero pin configuration (GP0,1,2,3)
• Thermal monitoring and safety limits

Hardware Validated:

• RP2040-Zero + SimpleFOCMini v1.1 integration
• 9V supply with 2200µF capacitor
• Motor resistance compatibility testing

BLDC Testing Session - August 31, 2025

Hardware validation and motor compatibility research

Hardware Configuration:

• RP2040-Zero microcontroller (GP0,1,2,3 for motor control)
• SimpleFOCMini v1.1 BLDC driver
• 9V 2A supply with 2200µF capacitor
• Various motor testing (1503, A2212, 2204 gimbal)

Key Discoveries:

• Motor resistance critical: SimpleFOCMini requires >10Ω gimbal motors
• Drone motors incompatible: 1503 (1Ω) and A2212 (low resistance) cause driver overheating
• Live tuning interface: Serial commands for voltage/speed adjustment
• Component mismatch: All tested drone motors below SimpleFOCMini specifications

Test Code Features:

// SimpleFOC_TestUtility.ino - Live tunable parameters via serial
float voltageLimit = 0.5;    // Command: v1.2  
float targetSpeed = 1.0;     // Command: s0.8
BLDCMotor motor = BLDCMotor(5); // Pole pairs testing

Outcome: 2204-260KV gimbal motor identified as proper solution, delivery pending

Open-Loop BLDC Control Analysis - August 31, 2025

Critical design discovery: Encoder integration mandatory

Problem: All BLDC motors exhibited overheating in open-loop mode regardless of type:

• 1503 micro motors (1Ω resistance)
• A2212 drone motors (low resistance)
• 2204-260KV gimbal motors (9.8Ω resistance)

Root Cause Discovery:

• Open-loop BLDC inherently inefficient - cannot synchronize electrical timing with rotor position
• Creates internal “fighting” between electrical field and rotor position
• Energy converts to heat instead of useful torque
• Resistance compatibility secondary issue to fundamental control method problem

Failed Mitigation Attempts:

• Current limiting (motor.current_limit = 1.1)
• PWM frequency adjustment (20kHz)
• Phase sequence optimization
• Voltage reduction strategies

Solution Required: AS5600 encoder integration for closed-loop FOC control

• Enables electrical field synchronization with actual rotor position
• Eliminates timing mismatch heating
• Mandatory for reliable BLDC operation

BLDC Hardware Stream (Motor Control System)

BLDC Testing Session - August 31, 2025

Hardware validation and motor compatibility research

Hardware Configuration:

• RP2040-Zero microcontroller (GP0,1,2,3 for motor control)
• SimpleFOCMini v1.1 BLDC driver
• 9V 2A supply with 2200µF capacitor
• Various motor testing (1503, A2212, 2204 gimbal)

Key Discoveries:

• Motor resistance critical: SimpleFOCMini requires >10Ω gimbal motors
• Drone motors incompatible: 1503 (1Ω) and A2212 (low resistance) cause driver overheating
• Live tuning interface: Serial commands for voltage/speed adjustment
• Component mismatch: All tested drone motors below SimpleFOCMini specifications

Test Code Features:

// Live tunable parameters via serial
float voltageLimit = 0.5;    // Command: v1.2  
float targetSpeed = 1.0;     // Command: s0.8
BLDCMotor motor = BLDCMotor(5); // Pole pairs testing

Outcome: 2204-260KV gimbal motor identified as proper solution, delivery pending

Key Architectural Evolution

Movement System Progression:

1. v10-v12: Basic random walk → smooth motion
2. v13-v17: Infrastructure improvements (naming, timing, boundaries)
3. v18-v22: Advanced patterns (epicycloids, noise generation)
4. v23-v26: Behavioral psychology (dwelling, four-state system)
5. v27-v29: Perimeter specialization and spatial memory
6. v30-v31: Gravity dynamics and dramatic struggle

Communication System Development:

• Early Phase (≤v0.14): Core hysteresis RGB transitions
• Refinement (v0.16): Color palette optimization

Development Intensity Patterns

Movement Algorithms: Continuous iteration with 21+ documented versions over 8 days

• Primary development focus with detailed behavioral evolution
• Clear progression from mechanical motion to psychological dynamics

LED Communication: Concentrated development with fewer documented versions

• Parallel development stream with less frequent major revisions
• Focus on aesthetic refinement rather than behavioral complexity

Missing Documentation

• SearchingV13-V26: Individual version details not captured in available files
• Hysteresis_I_MMLC v0.01-v0.15: Early development phases undocumented
• Integration versions: Combined movement + LED coordination not evident

Hxyxy Tuning Interface Stream (OpenFrameworks)

HIxyxy_Tuning_OF.ino + ofApp - September 2, 2025

Servo control debugging and interface enhancement

Critical Bug Fixes:

• Servo Direction Fix: TipX servo direction inverted in updateServos() - servoTipX.write((int)(180 - tipX));
• Range Validation Bug: Updated Arduino validation from 5-175° to full 0-180° servo range
• System Freeze Fix: Mismatched range validation between OF GUI (0-180°) and Arduino (5-175°) caused complete lockup

Interface Enhancements:

• Mouse Grid Control: Added direct click/drag manipulation of servo position grids
• Real-time Visual Feedback: Improved coordinate mapping with proper Y-axis inversion
• Interactive Tuning: Enhanced user experience with intuitive direct servo control

Visualization Analysis:

• Critical Issue Identified: Current “Tentacle Profile” uses rigid segments with linear interpolation
• Reality Mismatch: Physical tentacle is continuous flexible structure with complex cable deformation
• Path Forward: Empirical curve fitting based on actual hardware measurements needed

Technical Debt Documented:

• Tentacle curve physics depend on spine material, knuckle geometry, thread routing
• Current visualization actively misleading about system behavior
• Proper spatial modeling essential for advanced control algorithm development

Last Updated: September 2, 2025
Sources: SearchingV12.ino, SearchingV27.ino, SearchingV31.ino, Hysteresis_I_MMLC_0.16.ino, HIxyxy_Tuning_OF.ino