Runtime Modules

TODO:

• [ ] Add page-specific notes for code-reference/runtime-modules.md after inspecting the real project files.
• [ ] Cross-link Runtime Modules to the most relevant code, data, testing, and safety pages.
• [ ] Name the exact file, module, function, class, or flag being documented.
• [ ] Document inputs, outputs, side effects, and failure modes.
• [ ] List callers and downstream behavior affected by changes.
• [ ] Add command examples for running or testing the code.
• [ ] Add important constants, defaults, units, and assumptions.
• [ ] Add known edge cases and how to reproduce them.
• [ ] Trace one loop iteration from sensor input to actuator command.
• [ ] List timing expectations and what can block the loop.
• [ ] Add the exact source path, artifact path, or hardware component name.
• [ ] Add the command or procedure needed to reproduce the result.
• [ ] Add expected inputs and outputs.
• [ ] Add the settings, flags, constants, or calibration values that control it.
• [ ] Add known failure modes and how they appear in logs, video, or field behavior.