adminandClaude Opus 4.8
534477f6f7
Replace the dead-beat-with-deadzone perpendicular controller with an exponential follow that targets one skin-width beyond the offset, so the capsule never penetrates the wall and the controller's depenetration no longer fights back. Removes the quantizing deadzone that caused stepping. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>