#v75.4.1Current Stable — RTOS Hotfix
Fixed memory leak in TaskNetwork during rapid WebSocket reconnections. Optimised Core 1 IK math, reducing calculation time from 2.1ms to 1.4ms. Patched WebGL rendering tearing on mobile devices.
#v75.0.0 — Architecture Overhaul
Migrated to ESP32-S3 FreeRTOS Dual-Core. Implemented stateMutex (SemaphoreHandle_t) to prevent memory race conditions. Added Smooth Amplitude Decay (smoothVx) for soft leg parking. Separated I²C buses (GPIO 4/5 for PCA9685, GPIO 6/7 for MPU6050).
#v68.2.0 — CNC Milling Integration
Added API support for Trochoidal Milling paths. Increased Z-axis rigidity parameters for the Replicator build. Implemented thermal shutdown limits for spindle operations.
#v62.0.0 — Adaptive Holonomics
Holonomic Twist Geometry rewritten for true 360-degree lateral movement. Added dynamic stance widening based on terrain pitch/roll angles.
#v54.1.0 — Safety Clamps
Added NaN safety clamps to Law of Cosines functions to prevent CPU crashes. Implemented 500ms Gamepad Watchdog — auto-stand if signal is lost.
#v53.0.2 — The Rhodium Gait
Implemented the Symmetric Twist walking gait. Initial release of the HTML5 Mission Control UI served from PROGMEM.
#v48.5.0 — Digital Twin
Integrated Three.js WebGL visualisation for live telemetry. Increased WebSocket broadcast rate to 100ms.
#v42.0.0 — Active Gravity Compensation
MPU-6050 sensor fusion implementation. Added trigonometric Z-axis balancing: balZ = (lx × sin(P)) + (ly × sin(R)).
#v35.1.0 — Custom Actuation
Added PWM mapping for custom 1:100 Cycloidal Drives. Adjusted servo limits (100–500) for MG90S 180-degree range.
#v28.0.0 — IK Engine V2
Deprecated linear interpolation. Introduced full Inverse Kinematics via the Law of Cosines.
#v21.3.0 — Mesh Genesis
Initial integration of the LilyGo T3S3 module. Basic LoRa Ping/Pong protocol established between two nodes.
#v10.0.0 — First Steps
Basic Creep Gait (Tripod stability). Movement highly unstable. Legacy code kept for archival purposes only.
#v1.0.0 — Project Genesis
Initial commit. Basic I²C communication established with PCA9685. Hardcoded servo sweep tests.