2026-05-26 16:23:04 +00:00
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# Polisher-Control
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Machine-side execution stack for the Fullum / GigaBIT swing-arm polisher.
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This repository is for Cédric's implementation work on the **controller, firmware,
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manual-mode UI support, telemetry, safety/interlocks, and run artifacts**. It is
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aligned with the broader Polisher Software Suite:
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```text
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polisher-sim -> planning / digital twin / calibration / metrology intelligence
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polisher-post -> validation + packaging of controller-safe jobs
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polisher-control -> safe machine execution + telemetry + operator workflow
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shared contracts -> schemas, logs, machine capabilities, provenance
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```
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## v1 finish line
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Normand can operate the polisher manually from the touchscreen, with:
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2026-06-02 15:40:16 +00:00
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- safe force/table/spindle control, including clockwise/counter-clockwise toolhead rotation selection;
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2026-05-26 16:23:04 +00:00
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- KWR75B-CAN force/torque sensor integration;
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- ODrive S1 + M8325s spindle drive integration;
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- Teensy-side fast safety and setpoint/telemetry loop;
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- host-side state machine, logs, status, and data export;
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- synchronized telemetry at **>=100 Hz**;
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- manual-session logs usable by `polisher-sim` / `polisher-post` later;
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- safety/interlocks enforced and visible in logs.
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## What this repo must NOT become
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`polisher-control` does **not** own optical strategy. It must not interpret
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interferograms, optimize polishing passes, learn calibration parameters, or invent
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correction programs. Those decisions belong upstream in `polisher-sim` and
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`polisher-post`.
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The controller should be boring, deterministic, auditable, and conservative.
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## Start here
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2026-06-02 14:19:32 +00:00
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1. Read [`docs/LLM_CONTEXT.md`](docs/LLM_CONTEXT.md) if you are Cédric's LLM/coding assistant or need a compact project brief.
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2. Read [`docs/00-start-here.md`](docs/00-start-here.md).
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3. Read [`docs/02-v1-scope.md`](docs/02-v1-scope.md).
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4. Review the state machine and safety rules in [`docs/03-architecture.md`](docs/03-architecture.md).
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5. Use [`docs/11-feature-request-intake.md`](docs/11-feature-request-intake.md) before adding new features.
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6. Use [`docs/08-commissioning-checklist.md`](docs/08-commissioning-checklist.md) during hardware bring-up.
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7. Track implementation using [`ROADMAP.md`](ROADMAP.md).
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2026-05-26 16:23:04 +00:00
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## Repository map
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```text
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firmware/teensy/ Teensy 4.1 firmware scaffold and protocol/telemetry structs
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host/ Python host-controller scaffold for RPi/PC side
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shared/schemas/ Contract schemas mirrored from the current software suite
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shared/machine/ Fullum-alpha machine capability profile draft
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docs/ Cédric-facing implementation docs and checklists
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docs/nick-generated/ Nick-generated source-grounded guidance notes
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scripts/ Utility/validation scripts
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tests/ Host-side contract/state-machine tests
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```
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## Current source alignment
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Generated: 2026-05-26. This foundation is a repo scaffold and implementation aid,
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not a replacement for the approved P11 source specifications. If this repo and
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the source specs disagree, ask Antoine before changing architecture, safety,
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telemetry contracts, or scope.
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