From 5e531c08515ffbbe931fcc1fda760b9b5b53af05 Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Tue, 27 Jan 2026 03:51:02 +0000
Subject: [PATCH 1/3] Initial plan


From 8792fe7798e4e463e0c31e27177f8c96d9a1ca5c Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Tue, 27 Jan 2026 03:57:22 +0000
Subject: [PATCH 2/3] Fix line number references and document Agents/Skills in
 Lesson 6

Co-authored-by: thomasiverson <12767513+thomasiverson@users.noreply.github.com>
---
 lessons/06-debugging/demo-script.md        | 22 +++----
 lessons/06-debugging/hands-on-exercises.md | 30 +++++-----
 lessons/06-debugging/readme.md             | 67 +++++++++++++++++++---
 lessons/06-debugging/slides.md             |  6 +-
 4 files changed, 88 insertions(+), 37 deletions(-)

diff --git a/lessons/06-debugging/demo-script.md b/lessons/06-debugging/demo-script.md
index e23c7148..e58495b0 100644
--- a/lessons/06-debugging/demo-script.md
+++ b/lessons/06-debugging/demo-script.md
@@ -226,9 +226,9 @@ and the call from motor.cpp.
 
 **Step 1: Open the demo file**
 
-Open `src-ODrive/Firmware/MotorControl/demo_buggy.cpp` and scroll to the `FaultLogger` class (around line 23).
+Open `src-ODrive/Firmware/MotorControl/demo_buggy.cpp` and scroll to the `FaultLogger` class (around line 24).
 
-**The buggy code (lines 29-37):**
+**The buggy code (lines 31-38):**
 ```cpp
 // BUG: Can you spot the off-by-one error?
 void log_fault(uint32_t error_code) {
@@ -253,7 +253,7 @@ void log_fault(uint32_t error_code) {
 
 **Step 2: Use /fix in Chat**
 
-1. **Select lines 29-37** (the entire `log_fault` function)
+1. **Select lines 31-38** (the entire `log_fault` function)
 2. Open **Inline Chat** panel (`Ctrl+I`) first
 3. Type: 
 ```
@@ -314,9 +314,9 @@ Explanation:
 
 **Step 4: Show threading bug**
 
-**In the same file (`demo_buggy.cpp`), scroll to the `Encoder` class (around line 52).**
+**In the same file (`demo_buggy.cpp`), scroll to the `Encoder` class (around line 55).**
 
-**The buggy code (lines 63-76):**
+**The buggy code (lines 65-77):**
 ```cpp
 // Called from 8 kHz interrupt
 void update_isr() {
@@ -342,7 +342,7 @@ float get_position() {
 
 **Step 5: Ask /fix for solutions**
 
-1. **Select lines 63-80** (both `update_isr()` and `get_position()` functions)
+1. **Select lines 65-81** (both `update_isr()` and `get_position()`/`get_velocity()` functions)
 2. Open **Copilot Chat** panel (`Ctrl+Alt+I`)
 3. Type:
 ```
@@ -410,7 +410,7 @@ Recommendation for 8 kHz ISR: Option 1 (interrupt disable) - only ~10 cycles.
 ## Demo 3: Real-World Debug Session (9 min)
 
 ### Setup
-- Continue using `demo_buggy.cpp` - scroll to the `SpeedCalculator` class (around line 85)
+- Continue using `demo_buggy.cpp` - scroll to the `SpeedCalculator` class (around line 92)
 - This demonstrates the full /explain → /fix → test workflow
 
 ### Demo Flow
@@ -422,7 +422,7 @@ Recommendation for 8 kHz ISR: Option 1 (interrupt disable) - only ~10 cycles.
 
 **Step 1: Show the buggy code**
 
-**In `demo_buggy.cpp`, scroll to the `SpeedCalculator` class (line 85). The buggy code is lines 96-106:**
+**In `demo_buggy.cpp`, scroll to the `SpeedCalculator` class (line 92). The buggy code is lines 104-111:**
 
 ```cpp
 // BUG: Integer overflow at high speeds!
@@ -446,7 +446,7 @@ float calculate_rpm() {
 
 **Step 2: Ask for explanation**
 
-1. **Select lines 96-106** (the `calculate_rpm` function)
+1. **Select lines 104-111** (the `calculate_rpm` function)
 2. Open **Copilot Chat** panel (`Ctrl+Alt+I`)
 3. Type: 
 ```
@@ -523,7 +523,7 @@ First select @ODrive-QA in chat.
 Generate a unit test for calculate_rpm that tests high speed values to catch integer overflow
 ```
 
-> **Note:** Using `@ODrive-QA` invokes the `odrive-qa-assistant` skill which is specialized for test generation.
+> **Note:** Using `@ODrive-QA` invokes the `cpp-testing` skill which is specialized for test generation.
 
 **Expected AI Response:**
 ```cpp
@@ -559,7 +559,7 @@ TEST_CASE("Encoder RPM calculation at high speed") {
 ```
 
 **Presenter Says:**
-> "Excellent! `@ODrive-QA` generated a unit test that specifically checks high-speed values where overflow would occur. This ensures the bug stays fixed. The agent invoked the `odrive-qa-assistant` skill to create comprehensive tests."
+> "Excellent! `@ODrive-QA` generated a unit test that specifically checks high-speed values where overflow would occur. This ensures the bug stays fixed. The agent invoked the `cpp-testing` skill to create comprehensive tests."
 
 ---
 
diff --git a/lessons/06-debugging/hands-on-exercises.md b/lessons/06-debugging/hands-on-exercises.md
index 2ce2dc49..f899ddc9 100644
--- a/lessons/06-debugging/hands-on-exercises.md
+++ b/lessons/06-debugging/hands-on-exercises.md
@@ -29,9 +29,9 @@ Open this file in VS Code before starting.
 ### Bug Locations in demo_buggy.cpp
 | Bug | Class | Lines |
 |-----|-------|-------|
-| 1. Circular Buffer | `FaultLogger` | 29-37 |
-| 2. Race Condition | `Encoder` | 63-80 |
-| 3. Integer Overflow | `SpeedCalculator` | 96-106 |
+| 1. Circular Buffer | `FaultLogger` | 31-38 |
+| 2. Race Condition | `Encoder` | 65-81 |
+| 3. Integer Overflow | `SpeedCalculator` | 104-111 |
 
 ### If demo_buggy.cpp Doesn't Exist
 
@@ -197,7 +197,7 @@ The motor controller logs the last 10 faults in a circular buffer. Users report
 
 ### Buggy Code
 
-**File:** `src-ODrive/Firmware/MotorControl/demo_buggy.cpp` — `FaultLogger` class (lines 23-48)
+**File:** `src-ODrive/Firmware/MotorControl/demo_buggy.cpp` — `FaultLogger` class (lines 24-48)
 
 ```cpp
 #define FAULT_HISTORY_SIZE 10
@@ -225,8 +225,8 @@ public:
 
 **Step 1: Identify the Bug (2 min)**
 
-1. Open `demo_buggy.cpp` and scroll to the `FaultLogger` class (line 23)
-2. **Select lines 29-37** (the `log_fault` function)
+1. Open `demo_buggy.cpp` and scroll to the `FaultLogger` class (line 24)
+2. **Select lines 31-38** (the `log_fault` function)
 3. Open **Copilot Chat** panel (`Ctrl+Alt+I`)
 4. Type:
 ```
@@ -251,7 +251,7 @@ Ask Copilot to generate a test:
 @ODrive-QA Generate a unit test that logs 15 faults and verifies no crash
 ```
 
-> **Note:** Using `@ODrive-QA` invokes the `odrive-qa-assistant` skill for test generation.
+> **Note:** Using `@ODrive-QA` invokes the `cpp-testing` skill for test generation.
 
 Run the test mentally or with a simple main():
 ```cpp
@@ -304,7 +304,7 @@ The encoder updates position estimates in an 8 kHz interrupt. The main control l
 
 ### Buggy Code
 
-**File:** `src-ODrive/Firmware/MotorControl/demo_buggy.cpp` — `Encoder` class (lines 52-81)
+**File:** `src-ODrive/Firmware/MotorControl/demo_buggy.cpp` — `Encoder` class (lines 55-82)
 
 ```cpp
 class Encoder {
@@ -342,8 +342,8 @@ public:
 
 **Step 1: Identify the Race (2 min)**
 
-1. In `demo_buggy.cpp`, scroll to the `Encoder` class (line 52)
-2. **Select lines 63-80** (both `update_isr()` and `get_position()` functions)
+1. In `demo_buggy.cpp`, scroll to the `Encoder` class (line 55)
+2. **Select lines 65-81** (both `update_isr()` and `get_position()`/`get_velocity()` functions)
 3. Open **Copilot Chat** panel (`Ctrl+Alt+I`)
 4. Type:
 ```
@@ -463,7 +463,7 @@ The encoder calculates motor RPM from tick counts. At low speeds it works fine,
 
 ### Buggy Code
 
-**File:** `src-ODrive/Firmware/MotorControl/demo_buggy.cpp` — `SpeedCalculator` class (lines 85-109)
+**File:** `src-ODrive/Firmware/MotorControl/demo_buggy.cpp` — `SpeedCalculator` class (lines 92-112)
 
 ```cpp
 class SpeedCalculator {
@@ -497,8 +497,8 @@ public:
 
 **Step 1: Understand the Bug (2 min)**
 
-1. In `demo_buggy.cpp`, scroll to the `SpeedCalculator` class (line 85)
-2. **Select lines 96-106** (the `calculate_rpm` function)
+1. In `demo_buggy.cpp`, scroll to the `SpeedCalculator` class (line 92)
+2. **Select lines 104-111** (the `calculate_rpm` function)
 3. Open **Copilot Chat** panel (`Ctrl+Alt+I`)
 4. Type:
 ```
@@ -535,7 +535,7 @@ Ask:
 @ODrive-QA Generate a unit test for calculate_rpm that tests speeds from 100 to 50,000 RPM
 ```
 
-> **Note:** `@ODrive-QA` will invoke the `odrive-qa-assistant` skill to create comprehensive test cases.
+> **Note:** `@ODrive-QA` will invoke the `cpp-testing` skill to create comprehensive test cases.
 
 ### Success Criteria
 - ✅ Understand intermediate overflow concept
@@ -676,7 +676,7 @@ Context: [files involved, expected vs actual behavior]
 @ODrive-QA Verify the fix compiles correctly
 ```
 
-> **Note:** `@ODrive-QA` invokes the `odrive-qa-assistant` skill for builds and tests.
+> **Note:** `@ODrive-QA` invokes the `cpp-testing` and `odrive-toolchain` skills for builds and tests.
 
 ### Context is Key
 
diff --git a/lessons/06-debugging/readme.md b/lessons/06-debugging/readme.md
index e24362e8..9de3531f 100644
--- a/lessons/06-debugging/readme.md
+++ b/lessons/06-debugging/readme.md
@@ -31,6 +31,7 @@ Debugging is where developers spend 30-50% of their time. This lesson teaches yo
 
 - [Overview](#overview)
 - [Prerequisites](#prerequisites)
+- [Available Agents and Skills](#available-agents-and-skills)
 - [Why Debugging with Copilot Matters](#why-debugging-with-copilot-matters)
 - [Learning Path](#learning-path)
 - [@terminal for Build Errors](#1-terminal-for-build-errors-10-min)
@@ -75,6 +76,56 @@ Before starting this session, ensure you have:
 
 ---
 
+## Available Agents and Skills
+
+This repository includes several custom agents and skills that enhance debugging capabilities. Understanding when to use each agent is key to efficient debugging.
+
+### Custom Agents
+
+| Agent | Invocation | Purpose | Best For |
+|-------|------------|---------|----------|
+| **ODrive Engineer** | `@ODrive-Engineer` | Primary orchestrator for development tasks | Multi-file bugs, firmware development, complex analysis |
+| **ODrive QA** | `@ODrive-QA` | Testing & QA orchestrator | Test generation, build verification, coverage analysis |
+| **ODrive Reviewer** | `@ODrive-Reviewer` | Code review specialist | Style, safety, embedded best practices |
+| **ODrive Toolchain** | `@ODrive-Toolchain` | Build & test operations | Building firmware, running tests, symbol search |
+| **ODrive Ops** | `@ODrive-Ops` | CI/CD workflows | Release management, GitHub Actions |
+| **Ada to C++ Migrator** | `@ada-to-cpp-migrator` | Language migration specialist | Migrating Ada code to Modern C++ |
+
+### Available Skills
+
+Skills are specialized capabilities that agents can invoke:
+
+| Skill | Description | Status |
+|-------|-------------|--------|
+| **cpp-testing** | Unit test generation with doctest framework | ✅ Production |
+| **odrive-toolchain** | Build firmware, run tests, symbol search | ✅ Production |
+| **odrive-ops** | CI/CD workflows, releases, deployment | ✅ Production |
+| **control-algorithms** | PID controllers, observers, control transformations | 🚧 Planned |
+| **foc-tuning** | Automated FOC parameter tuning | 🚧 Planned |
+| **sensorless-control** | Sliding mode observers, PLL, back-EMF estimation | 🚧 Planned |
+| **pcb-review** | PCB schematic/layout review | 🚧 Planned |
+| **signal-integrity** | Impedance calculation, EMI analysis | 🚧 Planned |
+| **ada-cpp-migration** | Ada to Modern C++ migration patterns | ✅ Production |
+
+### When to Use Which Agent
+
+```
+Build/compile error? ──→ @terminal (quick fix)
+                    └─→ @ODrive-Toolchain (complex build issues)
+
+Single-file logic bug? ──→ /fix (inline correction)
+
+Multi-file bug? ──→ @ODrive-Engineer (orchestrated analysis)
+
+Need tests? ──→ @ODrive-QA (test generation)
+
+Code review? ──→ @ODrive-Reviewer (style & safety check)
+
+CI/CD issue? ──→ @ODrive-Ops (workflow management)
+```
+
+---
+
 ## Why Debugging with Copilot Matters
 
 Debugging is where developers spend 30-50% of their time. AI-assisted debugging can dramatically reduce this overhead.
@@ -389,7 +440,7 @@ The `/fix` command is a **code-focused debugging assistant** that:
 
 #### 1. **Off-by-One Errors**
 
-**File:** `demo_buggy.cpp` — FaultLogger class (line 29-37)
+**File:** `demo_buggy.cpp` — FaultLogger class (lines 31-38)
 
 **Buggy Code:**
 ```cpp
@@ -452,7 +503,7 @@ Or initialize watchdog_timer_ in constructor to avoid nullptr.
 
 #### 3. **Race Conditions (Thread Safety)**
 
-**File:** `demo_buggy.cpp` — Encoder class (lines 63-80)
+**File:** `demo_buggy.cpp` — Encoder class (lines 65-81)
 
 **Buggy Code:**
 ```cpp
@@ -537,7 +588,7 @@ If heap is required:
 
 #### 5. **Integer Overflow**
 
-**File:** `demo_buggy.cpp` — SpeedCalculator class (lines 96-106)
+**File:** `demo_buggy.cpp` — SpeedCalculator class (lines 104-111)
 
 **Buggy Code:**
 ```cpp
@@ -762,7 +813,7 @@ while (dma1->SR & DMA_BUSY) {
 ### Debugging Strategy with Copilot
 **🎯 Copilot Modes: Chat + Agent**
 
-> **Tip:** For complex debugging involving multiple files or domain expertise, use `@ODrive-Engineer` for firmware issues or `@ODrive-QA` for test-related debugging. The agents can invoke specialized skills like `odrive-qa-assistant` to build and verify fixes.
+> **Tip:** For complex debugging involving multiple files or domain expertise, use `@ODrive-Engineer` for firmware issues or `@ODrive-QA` for test-related debugging. The agents can invoke specialized skills like `cpp-testing` to build and verify fixes.
 
 **Step 1: Reproduce the Bug**
 - Can you trigger it consistently?
@@ -865,7 +916,7 @@ if (fault_write_idx_ >= FAULT_HISTORY_SIZE) {
 
 ### Bug 2: Race Condition in Position Estimate (5 min)
 
-**File:** `demo_buggy.cpp` — Encoder class (lines 52-81)
+**File:** `demo_buggy.cpp` — Encoder class (lines 55-82)
 
 **Buggy Code:**
 ```cpp
@@ -937,7 +988,7 @@ void Encoder::get_estimates(float* pos, float* vel) {
 
 ### Bug 3: Integer Overflow in Speed Calculation (5 min)
 
-**File:** `demo_buggy.cpp` — SpeedCalculator class (lines 96-106)
+**File:** `demo_buggy.cpp` — SpeedCalculator class (lines 104-111)
 
 **Buggy Code:**
 ```cpp
@@ -956,8 +1007,8 @@ float SpeedCalculator::calculate_rpm() {
 **Your Task:**
 
 **Step 1:** Use Copilot Chat to detect overflow
-1. Open `demo_buggy.cpp`, scroll to SpeedCalculator class (line 85)
-2. Select lines 96-106 (the `calculate_rpm` function)
+1. Open `demo_buggy.cpp`, scroll to SpeedCalculator class (line 92)
+2. Select lines 104-111 (the `calculate_rpm` function)
 3. Open Chat (`Ctrl+Alt+I`) and type:
 ```
 /explain why this gives wrong values at high speeds
diff --git a/lessons/06-debugging/slides.md b/lessons/06-debugging/slides.md
index 7eb607c0..995abe05 100644
--- a/lessons/06-debugging/slides.md
+++ b/lessons/06-debugging/slides.md
@@ -548,15 +548,15 @@ float get_position() const {  // Now const-correct
 **Fix 3 bugs in `demo_buggy.cpp` in 15 minutes:**
 
 1. **⭐⭐ Circular Buffer (5 min)** — FaultLogger class
-   - Off-by-one boundary check (lines 29-37)
+   - Off-by-one boundary check (lines 31-38)
    - Use /fix in Chat mode
 
 2. **⭐⭐⭐ Race Condition (5 min)** — Encoder class
-   - ISR writes, main loop reads (lines 63-80)
+   - ISR writes, main loop reads (lines 65-81)
    - Evaluate multiple solutions
 
 3. **⭐⭐ Integer Overflow (5 min)** — SpeedCalculator class
-   - RPM calculation overflow (lines 96-106)
+   - RPM calculation overflow (lines 104-111)
    - Use /explain then /fix
 
 **Files:** `demo_buggy.cpp` + `hands-on-exercises.md`

From d936d751d3ef33d004878326df7187b8f5804c61 Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Tue, 27 Jan 2026 03:58:34 +0000
Subject: [PATCH 3/3] Fix additional line number references from code review
 feedback

Co-authored-by: thomasiverson <12767513+thomasiverson@users.noreply.github.com>
---
 lessons/06-debugging/hands-on-exercises.md | 4 ++--
 lessons/06-debugging/readme.md             | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/lessons/06-debugging/hands-on-exercises.md b/lessons/06-debugging/hands-on-exercises.md
index f899ddc9..f726663c 100644
--- a/lessons/06-debugging/hands-on-exercises.md
+++ b/lessons/06-debugging/hands-on-exercises.md
@@ -304,7 +304,7 @@ The encoder updates position estimates in an 8 kHz interrupt. The main control l
 
 ### Buggy Code
 
-**File:** `src-ODrive/Firmware/MotorControl/demo_buggy.cpp` — `Encoder` class (lines 55-82)
+**File:** `src-ODrive/Firmware/MotorControl/demo_buggy.cpp` — `Encoder` class (lines 65-81)
 
 ```cpp
 class Encoder {
@@ -463,7 +463,7 @@ The encoder calculates motor RPM from tick counts. At low speeds it works fine,
 
 ### Buggy Code
 
-**File:** `src-ODrive/Firmware/MotorControl/demo_buggy.cpp` — `SpeedCalculator` class (lines 92-112)
+**File:** `src-ODrive/Firmware/MotorControl/demo_buggy.cpp` — `SpeedCalculator` class (lines 104-111)
 
 ```cpp
 class SpeedCalculator {
diff --git a/lessons/06-debugging/readme.md b/lessons/06-debugging/readme.md
index 9de3531f..b042edb0 100644
--- a/lessons/06-debugging/readme.md
+++ b/lessons/06-debugging/readme.md
@@ -916,7 +916,7 @@ if (fault_write_idx_ >= FAULT_HISTORY_SIZE) {
 
 ### Bug 2: Race Condition in Position Estimate (5 min)
 
-**File:** `demo_buggy.cpp` — Encoder class (lines 55-82)
+**File:** `demo_buggy.cpp` — Encoder class (lines 65-81)
 
 **Buggy Code:**
 ```cpp