Polisher-Control/docs/07-manual-mode-workflow.md

# Manual Mode Workflow

## Operator flow

1. Hardware HOA selector in Auto.
2. Machine in `IDLE`.
3. Operator selects Manual Mode.
4. UI presents the geometric gate:
   - `r_menante`
   - `L_menee`
   - `R_tool`
   - configured arm amplitude
   - configured arm center
5. Operator confirms values.
6. Operator enters setpoints:
   - force N
   - table RPM
   - spindle RPM
   - spindle rotation direction: clockwise (`cw`) or counter-clockwise (`ccw`) as viewed from above the toolhead looking down toward the mirror/tool contact
   - optional force modulation harmonic/amplitude/phase
7. Operator presses Start.
8. Host sends `MANUAL_START`.
9. Operator may adjust setpoints live.
10. Operator presses Stop.
11. Host writes the manual-session log, telemetry CSV, events, manifest, and status.

## Hard rules

- Manual mode cannot start with stale geometry.
- Manual mode uses the same safety/interlocks as job mode.
- Every setpoint change is logged, including spindle direction changes.
- Telemetry always runs while force/motion is active.
- Tool removal uses the documented mechanical sequence; no powered Zero-G in v1.