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firestarsdog
16 lines
906 B
Markdown
16 lines
906 B
Markdown
# Speed-limit composition
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`composition.step` joins current source selection, adoption decisions, configured
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offsets, selected cruise coordinates and qualified driver intent. It preserves
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validation of sessions, clocks, source observations, current authority and the causal
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action ledger. Malformed or contradictory input cannot authorize a command.
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The resulting accepted adjusted limit is adoption data. Runtime sends it to card
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as a bounded set-speed command, retrying a failed application only while the same
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adoption and expected set speed remain current. `Result.ceiling` is always `None`; SLC does
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not compose another speed ceiling with the driver's set speed. The planner uses
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card's published set speed and its ordinary selected braking profile.
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Lead following, curves, stopping and actuator restrictions retain their independent planner paths.
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See the [current controller contract](README.md).
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