- physics/sensors.py: optical/Hall (velocity-independent) and inductive
(velocity-scaled, sech^2 spatial sensitivity) trigger events for solve_ivp
- sim/stage.py: flight-to-trigger -> fire delay -> discharge -> energy
accounting, returning StageResult(feasible=False, reason=...) instead of
raising when a sensor never fires or discharge never commutates
- Found and fixed a real bug caught by the energy-conservation test: the
saturation clamp was applied to the mechanical force but not the
electrical back-EMF term, silently breaking energy balance by ~15%.
Removed the dynamic clamp (documented as a deferred nonlinear-L(x,I)
limitation) and kept saturation as a diagnostic-only warning
(StageResult.saturation_warning) so numbers stay honest rather than
quietly wrong. Balance error is now ~0.02%.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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