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Codex in Adom Hydrogen: ecosystem setup, dock dashboard and live engineering demos.

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codex / docs / ASTRA-ESC-INDEPENDENT.md
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John Lauer Use generic 3rd party fab wording a9bb39f 6d ago

Astra independently places, routes and pours the ESC G431

Native result: 0 unconnected, 0 new errors, 13 inherited footprint errors. Astra calculated a fresh placement for all 122 movable parts, retained the 27 locked interface contacts, calculated new routes and added power/ground pours. Fable placement coordinates and waypoints were not used. Prior exposure to the board is disclosed. This is an independently planned layout candidate, not a blind experiment or a motor-current qualification.

The fixture was never saved. KiCad closed with discardChanges:true and the pulled disk file still hashes to 78eff049795cff44552b3b80d65b43a44e81bdc8ab06a2af2e9a59fb7956e664.

Measurements

The headline clock starts 2026-09-13T13:29:56.203Z, not the video start. The independent-scope correction arrived 2026-09-13T16:58:33.710Z. The machine-readable stats records prompt-to-issue elapsed time including previous attempts, shared skill/hero work, retries and recorder recovery. Headline elapsed time: 436.730 minutes, ending 2026-09-13T20:46:40Z. From the independent-scope correction: 228.105 minutes. The issue is KiCad Bridge #96.

  • Fresh placement planning: 320.730 seconds. First 122-part placement: 18.244 seconds, 16 commits. One later R32 orientation correction makes 17 placement commits.
  • Routing planning, first fresh routing-state request to first successful route commit: 2762.876 seconds.
  • Routing including stitching and tail repair: 840.474 seconds, 73 successful route commits across 59 distinct nets. The initial route pass was 66 commits; split-width and branched nets account for repeated net names.
  • Final geometry: 2079 segments, 246 vias, 1419.552 mm of track centerline. 40 vias were added during power stitching.
  • Three zone commits: reference planes, outer pours/local connection repairs/trace keepouts, then full-input-pad keepouts. Final 21 zone objects include keepouts.
  • Final DRC: 13 errors, 0 unconnected, 64 warnings; stale:false and no possibly-truncated violation types. Errors are seven inherited U2 pad clearances and six malformed MOSFET courtyards. No dangling-track warning remains. Full native report.
  • No AI subagents. Local Python orchestration invokes serial C++ search workers.
Layer Native filled-zone area mm² Coverage of 4736 mm² bounding box
B.Cu 3623.89 76.52%
F.Cu 3518.38 74.29%
In1.Cu 4152.13 87.67%
In2.Cu 4072.78 86.00%

The baseline and final per-zone areas use KiCad filled polygons. These are summed zone areas, excluding pads/tracks/vias outside zones; they are not a full conductor-union ablation metric. Extra stitching reduced the inner-plane area through antipads while connecting more outer copper. +VBAT still has 3 front and 5 back filled regions; SHA has 1/2 and SHB 1/3. Traces/vias bridge regions, but this is not proof of acceptable power-path necks, current sharing or heat flow.

Electrical decisions and limits

Signal routing uses 0.25 mm with 0.2 mm clearance and 0.8/0.4 mm vias. Power routes use 0.5 mm and widen to 1.0 mm where clearance permits. Compact phase regions cover the half-bridge and contact, rather than spreading switching copper across the signal area. Broad supply and ground regions retain copper for the 3rd party fab. Local solid connections address high-current pads and five starved thermal connections; other pads retain thermal reliefs.

The two Kelvin traces were routed first and protected from same-net copper. U6.3 has no generic GND plane stub. The final review found that a centerline keepout left 0.475573 mm² of each sense-input pad exposed; added pad-shape keepouts corrected this. Geometry audit shows zero uncovered input-pad/trace area and zero contact with other same-net trace/via/pad copper outside the intended shunt pickup. The API does not expose filled polygon vertices, so this is not a direct polygon-union measurement of the native fills.

Outer copper is 35 um; inner copper is about 15.2 um. The motor's 58.5 A specification is not a demonstrated PCB rating. Continuous and peak phase current, duty, allowable temperature rise, via plating and enclosure conditions remain necessary for qualification. Dense grid routing still has many short segments. Zero opens does not mean an optimal layout or manufacturing release.

Source and reuse

Source in the existing EDA Skillpack: Python does placement policy, geometry, connected components, routing orchestration, pours and native calls; C++ does grid search. General algorithms are reusable; ESC bounds, functional anchors, pin roles and electrical policy are board-specific. The shared fixture parser came from KiCad Bridge. No Freerouting was used.

Video and discarded work

The video joins real recorded stages at 1x: unplaced fixture and native placement, R32 correction, inner planes, routing/pours/stitching, then a separate final Kelvin review. Planning gaps between recordings are not represented as playback time. The original recorder had a static-tail/timestamp defect tracked in AB #195, so encoded duration is not exact wall time.

The main recording ID disappeared before its limit while an independent maintainer test was active on the same desktop. The 644121163-byte MP4 survived, SHA256 9dbef4d1ec01dbb3f75f0dd76bee86c9760dc3cf8a111d53eccf8613a5d86bb9, encoded duration 734.030567 seconds. It visibly includes all 40 stitching vias. Source seconds 410-460 were omitted to remove unrelated recorder-test activity and idle time; no route/pour commit was omitted there. The +12V dangling-tail trim occurred off camera before the separately recorded final Kelvin-pad correction. Final-review wall time was 65.749 seconds, encoded 65.280267 seconds. Edit manifest.

Other retries: initial geometric routing had 10 gaps; component-aware rip-up completed in 36 iterations with zero remaining groups. The first zone recording committed planes, then a stale revision rejected the first trace without mutation; a settled routing-state read fixed sequencing. Two pour preflights rejected starved thermals; local patches passed. Via-only paths changed net assignment during native fill and were rejected; explicit pad-to-via anchors passed. One local stitching helper failed on an empty eroded pad and was corrected before accepted stitching. A remove-route call lacking expectedRevision was rejected without mutation. A draft video concatenation had incompatible timestamps and was discarded before publication; final encoding normalizes the segment timebase. Detailed failures remain in stats and timestamped Bridge calls.

The caption calls update the same ID in place. Shared caption repair is tracked in AB #194, not a private desktop build. Via/zone findings were handed to KiCad #95.

Tokens and cost

Through 2026-09-13T20:47:27.766Z, the original-ESC window used 104,661,253 input tokens, including 103,351,424 cached input, and 284,122 output. The independent-correction window is reported separately in token data. These are cumulative session deltas, not the whole thread before the ESC prompt. No AI-agent usage is omitted.

The published GPT-6 Astra model price is $10 per million uncached input, $1 cached input, $12.50 cache write and $50 output. Standard API-equivalent cost through that cutoff is $130.6558, 65.3279% of $200. This is arithmetic for comparison, not the amount charged by a subscription. All observed request inputs were below the 272000-token long-context threshold. Cache writes were zero. Reasoning tokens are already included in output.

Exact commands and per-net results

Every Bridge call, argument, response and UTC timestamp is in bridge-calls.jsonl. Exact command transcript is evidence, not an unattended replay script. The source includes the planner and recording/transcoding scripts. Each live CAD call used --ai-thread "Astra independent ESC" --target arav-rog and the isolated board copy.

Commit UTC Net Width mm Items Revision prefix DRC errors
1 20:14:54 GND 0.25 3 d8a2faf4879e 13
2 20:14:59 GND_OUT 0.25 3 6bb0eb897246 13
3 20:15:04 GND 0.25 86 50ea1ebc4a6d 13
4 20:15:09 +3V3 0.25 24 8ad434a5e074 13
5 20:15:15 /PB7 0.25 8 b9415762605e 13
6 20:15:20 /TIM1_CH2_INHB 0.25 35 748dd488b656 13
7 20:15:25 /DRV_GLC 0.25 121 6fc6a6bff844 13
8 20:15:30 /COMP2_INM_IO1_BEMF_A 0.25 71 31d97fbe7792 13
9 20:15:36 /PB12 0.25 58 14458fa79101 13
10 20:15:41 /COMP1_INM_IO2_BEMF_C 0.25 66 c81851fc3433 13
11 20:15:46 /DRV_SHB 0.5 112 aab4ef5c8b33 13
12 20:15:51 /DRV_SHB 1.0 7 b157932c56f8 13
13 20:15:57 /DRV_SHA 0.5 86 ecb74b0a0cde 13
14 20:16:02 /DRV_SHA 1.0 3 2e594eacde3a 13
15 20:16:08 /DRV_SHC 0.5 57 c441f8110084 13
16 20:16:13 /DRV_SHC 1.0 3 ff883eb6c065 13
17 20:16:19 +VBAT 0.5 121 6fe800ffd323 13
18 20:16:24 +VBAT 0.5 23 2e40ed6c2733 13
19 20:16:30 +VBAT 1.0 22 4999d2bb2b38 13
20 20:16:35 Net-(LED1-A) 0.25 1 d14b02795faa 13
21 20:16:40 Net-(LED2-A) 0.25 1 23dbc07afd54 13
22 20:16:46 /DRV_BSTA 0.25 1 a0f9ef5e9ace 13
23 20:16:51 /SW 0.25 1 7147ccd10478 13
24 20:16:57 /MCU_LED 0.25 1 bd3546f837f3 13
25 20:17:03 /5V_VCC 0.25 1 14e2c1f37a69 13
26 20:17:08 /DRV_BSTB 0.25 10 238800b40e84 13
27 20:17:13 /DRV_BSTC 0.25 8 3ca48dd0e0ab 13
28 20:17:19 Net-(LED3-A) 0.25 5 b68bfd648213 13
29 20:17:24 /E_STOP 0.25 3 640f0ed8f4a3 13
30 20:17:30 /DRV_GHB 0.25 10 17658733949f 13
31 20:17:35 /GLB 0.25 28 8032d5c3078f 13
32 20:17:41 /BOOT0 0.25 6 0bb109ddeb17 13
33 20:17:46 /RPM 0.25 16 f6d7f55a5188 13
34 20:17:52 GND_OUT 1.0 1 17402bbce9e6 13
35 20:17:57 /HSE_OUT 0.25 7 40e30d619d73 13
36 20:18:03 /HSE_IN 0.25 19 9badf3e61f9d 13
37 20:18:08 /VDDA 0.25 7 1588be220f56 13
38 20:18:13 /PB6 0.25 37 fc0f6ab4444d 13
39 20:18:19 /VBAT_SENSE 0.25 38 2a09796e525e 13
40 20:18:24 /NEUTRAL 0.25 28 e5a59626e744 13
41 20:18:30 /GLA 0.25 16 312e57f06dba 13
42 20:18:35 /5V_EN 0.25 12 0f35ee2a1241 13
43 20:18:41 /GLC 0.25 11 20393ef46377 13
44 20:18:46 /DRV_GLA 0.25 13 44172b477a29 13
45 20:18:52 /DRV_GLB 0.25 21 220e810f973d 13
46 20:18:57 /DRV_GHC 0.25 59 77053d809f83 13
47 20:19:03 /GHA 0.25 21 f09f57442020 13
48 20:19:08 /DRV_GHA 0.25 50 fc1fe035c576 13
49 20:19:14 /TIM1_CH1N_INLC 0.25 45 c84fa7d7b9c5 13
50 20:19:20 /TIM1_CH2N_INLB 0.25 10 c1b8019c1614 13
51 20:19:25 /TIM1_CH3N_INLA 0.25 101 67d18d60995b 13
52 20:19:31 /TIM1_CH1_INHC 0.25 46 6c96199389de 13
53 20:19:36 /TIM1_CH3_INHA 0.25 24 0ff798341451 13
54 20:19:42 /GHB 0.25 20 ebca72335f05 13
55 20:19:48 /5V_EXT 0.25 13 49bc460358c3 13
56 20:19:53 /GHC 0.25 34 3d53e63535fb 13
57 20:19:59 /COMP1_INM_IO1_BEMF_B 0.25 67 affded252a94 13
58 20:20:04 /TIM15_CH1_DSHOT 0.25 91 c80eb3b337fb 13
59 20:20:10 /USART1_RX 0.25 32 4d79339e5839 13
60 20:20:16 /USART1_TX 0.25 29 32638c88c395 13
61 20:20:21 /IBAT_SENSE 0.25 14 920a69028bdc 13
62 20:20:27 /nRST 0.25 66 b50c26244e36 13
63 20:20:32 /SWCLK 0.25 50 10c021633c5f 13
64 20:20:38 /SWDIO 0.25 89 41d7290a8994 13
65 20:20:44 +12V 0.25 96 09acfda6a221 13
66 20:20:50 +5V 0.25 76 f6aaa9d3f3e7 13
67 20:25:19 +VBAT 0.5 24 26013b228da3 13
68 20:25:39 GND_OUT 0.5 6 3f769a75325f 13
69 20:25:58 /DRV_SHA 0.5 12 1e04da23384e 13
70 20:26:18 /DRV_SHB 0.5 16 548ce6ffb318 13
71 20:26:38 /DRV_SHC 0.5 18 4f5916c0d7eb 13
72 20:26:57 GND 0.5 4 4a703176d150 13
73 20:28:44 +12V 0.25 2 edb41c1ae8f1 13

Full revisions and DRC objects are in stats.json. A successful per-net preflight can still show unrelated open nets while routing is underway; final native validation is authoritative.

Voiceover script for the comparison thread

Start: "This is Astra inside Codex and Hydrogen. The movable footprints begin outside the board. Astra calculated this placement independently; the 27 interface contacts stay locked."

Placement: "Astra places the 122 movable parts in native undo steps. The initial placement took 18.24 seconds to land after 5 minutes 20.73 seconds of placement planning. A later shunt rotation corrects the direction of the sense pickup. Those retries stay in the total time."

Routing: "Python builds the geometry and electrical policy. C++ searches the routing grid. Every route is then checked and committed by KiCad Bridge. This is Astra's path planning, not Freerouting. Watch the sense traces first, the plane stubs, and then the short nets and longer control signals."

Pours: "Connectivity reaches zero opens before the finishing pours. Supply and return copper occupy useful space, phase copper stays compact, and 40 additional vias connect power regions across the board. Copper area alone does not establish current capacity."

Review: "A final review catches something DRC cannot: a keepout that ends at a pad center can leave the rest of that pad touching a same-net pour. The corrected keepouts cover both full sense-input pads."

Conclusion: "KiCad reports zero open connections and no new errors. The 13 remaining errors belong to the inherited footprints. The full prompt-to-delivery time, token cost, source and failed attempts are published for comparison. This remains an electrical candidate awaiting load and thermal qualification."