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Oleksandr ShyshatskyiandClaude Opus 5.5
186028a5e1
The hardware-tuned motion from the previous commit becomes the code's defaults, and the paths it replaced are removed rather than kept behind switches: - soft_docking and dock_shortcuts are gone; seating through the contact span and the corridor approach with its arc lane entry always run. - The factory staging is gone: x_approach, the dockX-10 release stage, the 20 mm grab pullback, and slow_feed, release_slow_feed, grab_pullback_feed, grab_retreat_feed and release_retreat_feed. - Defaults are the tuned values: fast_feed 36000, accel_move 9600, corner_velocity 20, minimum_cruise_ratio 0, corner_radius 20, contact_depth 2.5, contact_margin 2.5. ff-toolchange.cfg documents them instead of setting them. ease_distance may now span the whole contact span, not just its depth. - FF_IMPORT_FIRMWARE_CONFIG no longer compares grabSpeed/grabSpeedSlow: they have no counterpart in this motion. The simulator no longer writes the removed options, so it still starts. Its tests in qa/simulator still compare against the removed factory path and are not updated here. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
