PASSAGE 1 / 3
- Pitch only — up and down. No left/right, no roll. That was overcorrecting the walk.
- Left/right cycles OFF, UP .25–.85, BAND, DROP, MIX, INV. Finer gains so a sweet spot is on the dial.
- BAND is walk-frequency nod. DROP is vertical bounce from the accel. MIX blends them. INV flips pitch.
- Pinch READ, wait for IMU, recenter, then walk. Compare each recipe to OFF on the same sidewalk.