---
title: Polisher-Control Repository Foundation
status: draft
requested_by: Antoine Letarte
generated_by: Nick / Hermes
project: P11-Polisher-Fullum
repo: polisher-control
source_truth: false
created: 2026-05-26
privacy: technical-only
---

# Polisher-Control Repository Foundation

## Purpose

Give Cédric a clean starting point for the machine-side control implementation without mixing in upstream planning or private project context.

## What to build first

1. Host↔Teensy protocol and ACK/NACK behavior.
2. State machine and illegal-transition tests.
3. KWR75B-CAN receive path and F/T validity/stale-frame watchdog.
4. Manual mode with geometric gate.
5. Telemetry CSV and manual-session log.
6. Safety interlock behavior.

## Key instruction

Manual mode is not a throwaway mode. Manual telemetry is the calibration dataset for the entire future digital-twin loop. Keep channel names, timestamps, setpoint history, and force/angle data stable from the start.

## Acceptance checks

- [ ] Normand can run manual mode safely.
- [ ] Every session produces telemetry and a manual-session log.
- [ ] Every fault or rejected command is visible as an event/alarm.
- [ ] The controller never invents polishing strategy.
