Thanks for the updates! I’ve been really enjoying seeing this coming along. Looks amazing.

There’s a TV series called “The Secret Life of Machines” from the 1990s, which has a whole 30 min episode about vacuum cleaners. I think it’s wonderfully presented - funny, clear, entertaining, gives a good understanding for how to grapple this sort of problem. https://youtu.be/CJlrbMHLBd4?si=G2X40txUnYn3iUA1 I think mains powered vacuum cleaners haven’t changed much since, so it’ll probably still be good information, although it won’t get in to battery powered models, because those are newer.

A few years ago, I used dosdude’s “patcher” to install 10.13 on a pretty old MacBook Pro that couldn’t run it. It’s been working really well. I think “OpenCore” might the more modern version of this. Worth a look?

Apps like Halide can give RAW files, which I think gives access to data much closer to what the sensor actually recorded.